Solving the Robot World/Hand Eye Calibration Problem Using the Kronecker ProductSource: Journal of Mechanisms and Robotics:;2013:;volume( 005 ):;issue: 003::page 31007Author:Shah, Mili
DOI: 10.1115/1.4024473Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper constructs a separable closedform solution to the robotworld/handeye calibration problem AX = YB. Qualifications and properties that determine the uniqueness of X and Y as well as error metrics that measure the accuracy of a given X and Y are given. The formulation of the solution involves the Kronecker product and the singular value decomposition. The method is compared with existing solutions on simulated data and real data. It is shown that the Kronecker method that is presented in this paper is a reliable and accurate method for solving the robotworld/handeye calibration problem.
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| contributor author | Shah, Mili | |
| date accessioned | 2017-05-09T01:01:14Z | |
| date available | 2017-05-09T01:01:14Z | |
| date issued | 2013 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_005_03_031007.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/152628 | |
| description abstract | This paper constructs a separable closedform solution to the robotworld/handeye calibration problem AX = YB. Qualifications and properties that determine the uniqueness of X and Y as well as error metrics that measure the accuracy of a given X and Y are given. The formulation of the solution involves the Kronecker product and the singular value decomposition. The method is compared with existing solutions on simulated data and real data. It is shown that the Kronecker method that is presented in this paper is a reliable and accurate method for solving the robotworld/handeye calibration problem. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Solving the Robot World/Hand Eye Calibration Problem Using the Kronecker Product | |
| type | Journal Paper | |
| journal volume | 5 | |
| journal issue | 3 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4024473 | |
| journal fristpage | 31007 | |
| journal lastpage | 31007 | |
| identifier eissn | 1942-4310 | |
| tree | Journal of Mechanisms and Robotics:;2013:;volume( 005 ):;issue: 003 | |
| contenttype | Fulltext |