| 融合罗德里格矩阵和整体最小二乘的双目机器人手眼标定算法 |
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| 引用本文： | 罗保林,张献州,罗超.融合罗德里格矩阵和整体最小二乘的双目机器人手眼标定算法[J].测绘科学技术学报,2019,36(3):244-249. |
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| 作者姓名： | 罗保林 张献州 罗超 |
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| 作者单位： | 成都市勘察测绘研究院,四川 成都,610036;西南交通大学 地球科学与环境工程学院,四川 成都,611756 |
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| 摘 要： | 针对传统双目式机器人手眼标定方法中未知量多、计算复杂的特点,研究并提出了一种基于罗德里格矩阵和整体最小二乘相融合的改进算法。其中罗德里格矩阵实现了对未知量的降维;整体最小二乘顾及了系数矩阵的误差。通过大量数据分析表明,改进后的手眼标定算法较传统方法在稳定性和精度上均有大幅提高,满足了机器人视觉系统在工业检测和制造领域中的高精度需求。
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| 关 键 词： | 罗德里格矩阵 整体最小二乘 三维扫描仪 机器人视觉 手眼标定 |
Hand-Eye Calibration Algorithm for Binocular Robot Based on Lodrigues Matrix and Total Least Squares |
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| LUO Baolin,ZHANG Xianzhou,LUO Chao.Hand-Eye Calibration Algorithm for Binocular Robot Based on Lodrigues Matrix and Total Least Squares[J].Journal of Zhengzhou Institute of Surveying and Mapping,2019,36(3):244-249. |
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| Authors: | LUO Baolin ZHANG Xianzhou LUO Chao |
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| Institution: | (Chengdu Institute of Survey&Investigation,Chengdu 610036,China;Faculty of Geosciences and Environmental Engineering,Southwest Jiaotong University,Chengdu 611756,China) |
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| Abstract: | In allusion to the characteristics of many of unknown parameters and complex calculation in the traditional binocular robot hand-eye calibration method, an improved algorithm based on the combination of Lodrigues matrix and total least squares is proposed in this paper. The Lodrigues matrix reduces the dimension of unknown parameter vector, and the total least squares takes into account the random errors of coefficient matrix. A large number of data analyses show that the improved hand-eye calibration algorithm has greatly improved the stability and accuracy compared with the traditional method, which meets the high-precision requirements of robotic vision system in the field of industrial detection and manufacturing. |
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| Keywords: | Lodrigues matrix total least squares 3D scanner robotic vision hand-eye calibration |
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