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{{collapse top| Hand-eye calibration problem}}
==Hand-eye
"hand-eye calibration is the problem of determining the transformation between the robot end-effector and a camera, as well as the transformation between the robot base and the world coordinate system".<ref>[https://arxiv.org/abs/1907.12425] </ref> It takes the form of AX=ZB, where A and B are two systems, usually a robot base and a camera, and X and Z are unknown transformation matrices. A special case of the problem occurs where X=Z, taking the form of the problem AX=XB. Solutions to the problem take the forms of several types of methods, including "separable closed-form solutions, simultaneous closed-form solutions, and iterative solutions".<ref>[https://www.nist.gov/publications/overview-robot-sensor-calibration-methods-evaluation-perception-systems?pub_id=910651]</ref>
*[http://math.loyola.edu/~mili/Calibration/]
*[https://ieeexplore.ieee.org/abstract/document/8788685/keywords#keywords]
*[https://arxiv.org/abs/1706.03498]
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