On the Calibration of Active Binocular and RGBD Vision Systems for Dual-Arm Robots

Khan, A., Aragon-Camarasa, G. , Sun, L. and Siebert, J. P. (2017) On the Calibration of Active Binocular and RGBD Vision Systems for Dual-Arm Robots. In: IEEE International Conference on Robotics and Biomimetics, Qingdao, China, 03-07 Dec 2016, pp. 1960-1965. ISBN 9781509043644 (doi:10.1109/ROBIO.2016.7866616)

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Abstract

This paper describes a camera and hand-eye calibration methodology for integrating an active binocular robot head within a dual-arm robot. For this purpose, we derive the forward kinematic model of our active robot head and describe our methodology for calibrating and integrating our robot head. This rigid calibration provides a closedform hand-to-eye solution. We then present an approach for updating dynamically camera external parameters for optimal 3D reconstruction that are the foundation for robotic tasks such as grasping and manipulating rigid and deformable objects. We show from experimental results that our robot head achieves an overall sub millimetre accuracy of less than 0.3 millimetres while recovering the 3D structure of a scene. In addition, we report a comparative study between current RGBD cameras and our active stereo head within two dual-arm robotic testbeds that demonstrates the accuracy and portability of our proposed methodology.

Item Type:Conference Proceedings
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Khan, Aamir and Sun, Mr Li and Siebert, Dr Jan and Aragon Camarasa, Dr Gerardo
Authors: Khan, A., Aragon-Camarasa, G., Sun, L., and Siebert, J. P.
College/School:College of Science and Engineering > School of Chemistry
College of Science and Engineering > School of Computing Science
ISBN:9781509043644
Copyright Holders:Copyright © 2016 IEEE
First Published:First published in IEEE International Conference on Robotics and Biomimetics 2016
Publisher Policy:Reproduced in accordance with the publisher copyright policy
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