论文标题
使用EKF自动校准
Automatic Eye-in-Hand Calibration using EKF
论文作者
论文摘要
在本文中，考虑了使用SLAM的手机机器人的自校准方法。目的是校准机器人臂的定位，使用诸如扩展的卡尔曼滤波器（EKF）之类的基于SLAM的方法自动安装了摄像头。鉴于相机内在参数和工作空间中的一组特征标记，相机外部参数被近似。部署了基于EKF的测量模型，以有效地定位相机并计算相机以进行最终效应器转换。提出的方法已在UR5操纵器上测试，其深度相机安装在最终效果下，以验证我们的结果。
In this paper, a self-calibration approach for eye-in-hand robots using SLAM is considered. The goal is to calibrate the positioning of a robotic arm, with a camera mounted on the end-effector automatically using a SLAM-based method like Extended Kalman Filter (EKF). Given the camera intrinsic parameters and a set of feature markers in a work-space, the camera extrinsic parameters are approximated. An EKF based measurement model is deployed to effectively localize the camera and compute the camera to end-effector transformation. The proposed approach is tested on a UR5 manipulator with a depth-camera mounted on the end-effector to validate our results.
