Simultaneous Hand-Eye/Robot-World/Camera-IMU Calibration

Wu, J; Wang, M; Jiang, Y; Yi, B; Fan, R; Liu, M

Simultaneous Hand-Eye/Robot-World/Camera-IMU Calibration

Wu, J Wang, M Jiang, Y Yi, B

Fan, R Liu, M

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Publisher:: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Publication Type:: Journal Article
Citation:: IEEE/ASME Transactions on Mechatronics, 2022, 27, (4), pp. 2278-2289
Issue Date:: 2022-08-01

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Field	Value	Language
dc.contributor.author	Wu, J
dc.contributor.author	Wang, M
dc.contributor.author	Jiang, Y
dc.contributor.author	Yi, B https://orcid.org/0000-0002-0517-9519
dc.contributor.author	Fan, R
dc.contributor.author	Liu, M
dc.date.accessioned	2023-03-10T04:13:56Z
dc.date.available	2023-03-10T04:13:56Z
dc.date.issued	2022-08-01
dc.identifier.citation	IEEE/ASME Transactions on Mechatronics, 2022, 27, (4), pp. 2278-2289
dc.identifier.issn	1083-4435
dc.identifier.issn	1941-014X
dc.identifier.uri	http://hdl.handle.net/10453/166965
dc.description.abstract	The problem of calibrating an extrinsic parameter between a camera and an inertial measurement unit (IMU) using an industrial robotic manipulator has been studied. This generates a result of hand-eye/robot-world/camera-IMU calibration in a simultaneous fashion. The developed method is free of inertial integration over time and, thus, is robust to uncertain IMU biases. It is derived that the problem can be solved via a simultaneous optimization of hand-eye/robot-world/camera-IMU transformations. The resulted optimization is highly nonconvex on the special Euclidean group, and we give globally optimal solutions. Experiments verify that the proposed method is capable of estimating accurate calibration parameters. Comparative studies between representatives show the global optimality of the proposed method. The new simultaneous method is capable of conducting calibration of a robot/camera/IMU combination. The designed method guarantees the global optimality; thus, the accuracy is ensured. The developed globally optimal solutions will also be computationally efficient on modern industrial computers. Finally, we show that the proposed method can give accurate calibration results for a stereo/IMU sensor combination.
dc.language	English
dc.publisher	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
dc.relation.ispartof	IEEE/ASME Transactions on Mechatronics
dc.relation.isbasedon	10.1109/TMECH.2021.3103995
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	0906 Electrical and Electronic Engineering, 0910 Manufacturing Engineering, 0913 Mechanical Engineering
dc.subject.classification	Industrial Engineering & Automation
dc.title	Simultaneous Hand-Eye/Robot-World/Camera-IMU Calibration
dc.type	Journal Article
utslib.citation.volume	27
utslib.for	0906 Electrical and Electronic Engineering
utslib.for	0910 Manufacturing Engineering
utslib.for	0913 Mechanical Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
dc.date.updated	2023-03-10T04:13:54Z
pubs.issue	4
pubs.publication-status	Published
pubs.volume	27
utslib.citation.issue	4

Abstract:

The problem of calibrating an extrinsic parameter between a camera and an inertial measurement unit (IMU) using an industrial robotic manipulator has been studied. This generates a result of hand-eye/robot-world/camera-IMU calibration in a simultaneous fashion. The developed method is free of inertial integration over time and, thus, is robust to uncertain IMU biases. It is derived that the problem can be solved via a simultaneous optimization of hand-eye/robot-world/camera-IMU transformations. The resulted optimization is highly nonconvex on the special Euclidean group, and we give globally optimal solutions. Experiments verify that the proposed method is capable of estimating accurate calibration parameters. Comparative studies between representatives show the global optimality of the proposed method. The new simultaneous method is capable of conducting calibration of a robot/camera/IMU combination. The designed method guarantees the global optimality; thus, the accuracy is ensured. The developed globally optimal solutions will also be computationally efficient on modern industrial computers. Finally, we show that the proposed method can give accurate calibration results for a stereo/IMU sensor combination.

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http://hdl.handle.net/10453/166965