Robust hand-eye calibration of 2D laser sensors using a single-plane calibration artefact

Sara Sharifzadeh, Istvan Biro, Peter Kinnell

Research output: Contribution to journalArticle

Abstract

When a vision sensor is used in conjunction with a robot, hand-eye calibration is necessary to determine the accurate position of the sensor relative to the robot. This is necessary to allow data from the vision sensor to be defined in the robot's global coordinate system. For 2D laser line sensors hand-eye calibration is a challenging process because they only collect data in two dimensions. This leads to the use of complex calibration artefacts and requires multiple measurements be collected, using a range of robot positions. This paper presents a simple and robust hand-eye calibration strategy that requires minimal user interaction and makes use of a single planar calibration artefact. A significant benefit of the strategy is that it uses a low-cost, simple and easily manufactured artefact; however, the lower complexity can lead to lower variation in calibration data. In order to achieve a robust hand-eye calibration using this artefact, the impact of robot positioning strategies is considered to maintain variation. A theoretical basis for the necessary sources of input variation is defined by a mathematical analysis of the system of equations for the calibration process. From this, a novel strategy is specified to maximize data variation by using a circular array of target scan lines to define a full set of required robot positions. A simulation approach is used to further investigate and optimise the impact of robot position on the calibration process, and the resulting optimal robot positions are then experimentally validated for a real robot mounted laser line sensor. Using the proposed optimum method, a semi-automatic calibration process, which requires only four manually scanned lines, is defined and experimentally demonstrated.

Original languageEnglish
Article number101823
Number of pages10
JournalRobotics and Computer-Integrated Manufacturing
Volume61
Early online date24 Jun 2019
DOIs
Publication statusE-pub ahead of print - 24 Jun 2019

Fingerprint

Calibration
Laser
Robot
Robots
Sensor
Lasers
Sensors
Line
Necessary
User Interaction
End effectors
Mathematical Analysis
Low Complexity
Positioning
System of equations
Two Dimensions
Maximise
Optimise
Target
Strategy

Keywords

  • Hand-eye calibration
  • Laser line sensor
  • Robotic metrology

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications
  • Industrial and Manufacturing Engineering

Cite this

Robust hand-eye calibration of 2D laser sensors using a single-plane calibration artefact. / Sharifzadeh, Sara; Biro, Istvan; Kinnell, Peter.

In: Robotics and Computer-Integrated Manufacturing, Vol. 61, 101823, 01.02.2020.

Research output: Contribution to journalArticle

@article{35aa7652a19e4bb6a6b8ac44d6d702ad,
title = "Robust hand-eye calibration of 2D laser sensors using a single-plane calibration artefact",
abstract = "When a vision sensor is used in conjunction with a robot, hand-eye calibration is necessary to determine the accurate position of the sensor relative to the robot. This is necessary to allow data from the vision sensor to be defined in the robot's global coordinate system. For 2D laser line sensors hand-eye calibration is a challenging process because they only collect data in two dimensions. This leads to the use of complex calibration artefacts and requires multiple measurements be collected, using a range of robot positions. This paper presents a simple and robust hand-eye calibration strategy that requires minimal user interaction and makes use of a single planar calibration artefact. A significant benefit of the strategy is that it uses a low-cost, simple and easily manufactured artefact; however, the lower complexity can lead to lower variation in calibration data. In order to achieve a robust hand-eye calibration using this artefact, the impact of robot positioning strategies is considered to maintain variation. A theoretical basis for the necessary sources of input variation is defined by a mathematical analysis of the system of equations for the calibration process. From this, a novel strategy is specified to maximize data variation by using a circular array of target scan lines to define a full set of required robot positions. A simulation approach is used to further investigate and optimise the impact of robot position on the calibration process, and the resulting optimal robot positions are then experimentally validated for a real robot mounted laser line sensor. Using the proposed optimum method, a semi-automatic calibration process, which requires only four manually scanned lines, is defined and experimentally demonstrated.",
keywords = "Hand-eye calibration, Laser line sensor, Robotic metrology",
author = "Sara Sharifzadeh and Istvan Biro and Peter Kinnell",
year = "2019",
month = "6",
day = "24",
doi = "10.1016/j.rcim.2019.101823",
language = "English",
volume = "61",
journal = "Robotics and Computer-Integrated Manufacturing",
issn = "0736-5845",
publisher = "Elsevier",

}

TY - JOUR

T1 - Robust hand-eye calibration of 2D laser sensors using a single-plane calibration artefact

AU - Sharifzadeh, Sara

AU - Biro, Istvan

AU - Kinnell, Peter

PY - 2019/6/24

Y1 - 2019/6/24

N2 - When a vision sensor is used in conjunction with a robot, hand-eye calibration is necessary to determine the accurate position of the sensor relative to the robot. This is necessary to allow data from the vision sensor to be defined in the robot's global coordinate system. For 2D laser line sensors hand-eye calibration is a challenging process because they only collect data in two dimensions. This leads to the use of complex calibration artefacts and requires multiple measurements be collected, using a range of robot positions. This paper presents a simple and robust hand-eye calibration strategy that requires minimal user interaction and makes use of a single planar calibration artefact. A significant benefit of the strategy is that it uses a low-cost, simple and easily manufactured artefact; however, the lower complexity can lead to lower variation in calibration data. In order to achieve a robust hand-eye calibration using this artefact, the impact of robot positioning strategies is considered to maintain variation. A theoretical basis for the necessary sources of input variation is defined by a mathematical analysis of the system of equations for the calibration process. From this, a novel strategy is specified to maximize data variation by using a circular array of target scan lines to define a full set of required robot positions. A simulation approach is used to further investigate and optimise the impact of robot position on the calibration process, and the resulting optimal robot positions are then experimentally validated for a real robot mounted laser line sensor. Using the proposed optimum method, a semi-automatic calibration process, which requires only four manually scanned lines, is defined and experimentally demonstrated.

AB - When a vision sensor is used in conjunction with a robot, hand-eye calibration is necessary to determine the accurate position of the sensor relative to the robot. This is necessary to allow data from the vision sensor to be defined in the robot's global coordinate system. For 2D laser line sensors hand-eye calibration is a challenging process because they only collect data in two dimensions. This leads to the use of complex calibration artefacts and requires multiple measurements be collected, using a range of robot positions. This paper presents a simple and robust hand-eye calibration strategy that requires minimal user interaction and makes use of a single planar calibration artefact. A significant benefit of the strategy is that it uses a low-cost, simple and easily manufactured artefact; however, the lower complexity can lead to lower variation in calibration data. In order to achieve a robust hand-eye calibration using this artefact, the impact of robot positioning strategies is considered to maintain variation. A theoretical basis for the necessary sources of input variation is defined by a mathematical analysis of the system of equations for the calibration process. From this, a novel strategy is specified to maximize data variation by using a circular array of target scan lines to define a full set of required robot positions. A simulation approach is used to further investigate and optimise the impact of robot position on the calibration process, and the resulting optimal robot positions are then experimentally validated for a real robot mounted laser line sensor. Using the proposed optimum method, a semi-automatic calibration process, which requires only four manually scanned lines, is defined and experimentally demonstrated.

KW - Hand-eye calibration

KW - Laser line sensor

KW - Robotic metrology

UR - http://www.scopus.com/inward/record.url?scp=85067672565&partnerID=8YFLogxK

UR - https://www.sciencedirect.com/science/article/pii/S073658451830591X

U2 - 10.1016/j.rcim.2019.101823

DO - 10.1016/j.rcim.2019.101823

M3 - Article

VL - 61

JO - Robotics and Computer-Integrated Manufacturing

JF - Robotics and Computer-Integrated Manufacturing

SN - 0736-5845

M1 - 101823

ER -