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    Sensors, Vol. 18, Pages 3706: Stereo Camera Head-Eye Calibration Based on Minimum Variance Approach Using Surface Normal Vectors (2018)
    MDPI
    In: Sensors
    Details
    Publication Date: 2018
    Description: This paper presents a stereo camera-based head-eye calibration method that aims to find the globally optimal transformation between a robot’s head and its eye. This method is highly intuitive and simple, so it can be used in a vision system for humanoid robots without any complex procedures. To achieve this, we introduce an extended minimum variance approach for head-eye calibration using surface normal vectors instead of 3D point sets. The presented method considers both positional and orientational error variances between visual measurements and kinematic data in head-eye calibration. Experiments using both synthetic and real data show the accuracy and efficiency of the proposed method.
    Electronic ISSN: 1424-8220
    Topics: Chemistry and Pharmacology , Electrical Engineering, Measurement and Control Technology
    Published by MDPI
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