Robotic Eye-in-hand Calibration in an Uncalibrated Environment
Sebastian Van Delden, Frank Hardy
The optical flow of high interest points in images of an
uncalibrated scene is used to recover the camera orientation of an
eye-in-hand robotic manipulator. The system is completely
automated, iteratively performing a sequence of rotations and
translations until the camera frame is aligned with the
manipulator’s world frame. The manipulator must be able to
translate and rotate its end-effector with respect to its world frame.
The system is implemented and being tested on a Stäubli RX60
manipulator using an off-the-shelf Logitech USB camera. Full Text
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