首页|A novel singular-free solution based on principle of transfer theory for the hand-eye calibration problem
A novel singular-free solution based on principle of transfer theory for the hand-eye calibration problem
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NSTL
Elsevier
For the Endoscope-assisted Surgical Robot system, the success of the surgery can be heavily determined by the accuracy of the unknown hand-eye matrix between the manipulator and the laparoscopic camera. Although many analytical solutions algorithms have been proposed, it is found that the hand-eye matrix estimated by some existing analytical solutions algorithms will deviate from its true value in some cases. Therefore, the singularity analysis for the solution of the hand-eye calibration based on orthogonal dual tensor is firstly pointed out in this paper. To avoid the above singular phenomenon, a novel singular-free solution based on Principle of Transfer theory is proposed in this paper, which can be verified by the corresponding simulation and experimental results.
Hand-eye calibrationOrthogonal dual tensorPrinciple of transfer theorySingular-free solutionSingularity analysis
Wang W.、Liu Y.、Du Z.、Song H.
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State Key Laboratory of Robotics and System Harbin Institute of Technology
School of Automation and Electrical Engineering Linyi University
NSTL
Elsevier
