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Flange-Based Hand-Eye Calibration Using a 3D Camera With High Resolution, Accuracy, and Frame Rate

Point cloud data provides three-dimensional (3D) measurement of the geometric details in the physical world, which relies heavily on the quality of the machine vision system. In this paper, we explore the potentials of a 3D scanner of high quality (15 million points per second), accuracy (up to 0.15...

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Autores principales: Wan, Fang, Song, Chaoyang
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805951/
https://www.ncbi.nlm.nih.gov/pubmed/33501233
http://dx.doi.org/10.3389/frobt.2020.00065
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author Wan, Fang
Song, Chaoyang
author_facet Wan, Fang
Song, Chaoyang
author_sort Wan, Fang
collection PubMed
description Point cloud data provides three-dimensional (3D) measurement of the geometric details in the physical world, which relies heavily on the quality of the machine vision system. In this paper, we explore the potentials of a 3D scanner of high quality (15 million points per second), accuracy (up to 0.150 mm), and frame rate (up to 20 FPS) during static and dynamic measurements of the robot flange for direct hand-eye calibration and trajectory error tracking. With the availability of high-quality point cloud data, we can exploit the standardized geometric features on the robot flange for 3D measurement, which are directly accessible for hand-eye calibration problems. In the meanwhile, we tested the proposed flange-based calibration methods in a dynamic setting to capture point cloud data in a high frame rate. We found that our proposed method works robustly even in dynamic environments, enabling a versatile hand-eye calibration during motion. Furthermore, capturing high-quality point cloud data in real-time opens new doors for the use of 3D scanners, capable of detecting sensitive anomalies of refined details even in motion trajectories. Codes and sample data of this calibration method is provided at Github (https://github.com/ancorasir/flange_handeye_calibration).
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spelling pubmed-78059512021-01-25 Flange-Based Hand-Eye Calibration Using a 3D Camera With High Resolution, Accuracy, and Frame Rate Wan, Fang Song, Chaoyang Front Robot AI Robotics and AI Point cloud data provides three-dimensional (3D) measurement of the geometric details in the physical world, which relies heavily on the quality of the machine vision system. In this paper, we explore the potentials of a 3D scanner of high quality (15 million points per second), accuracy (up to 0.150 mm), and frame rate (up to 20 FPS) during static and dynamic measurements of the robot flange for direct hand-eye calibration and trajectory error tracking. With the availability of high-quality point cloud data, we can exploit the standardized geometric features on the robot flange for 3D measurement, which are directly accessible for hand-eye calibration problems. In the meanwhile, we tested the proposed flange-based calibration methods in a dynamic setting to capture point cloud data in a high frame rate. We found that our proposed method works robustly even in dynamic environments, enabling a versatile hand-eye calibration during motion. Furthermore, capturing high-quality point cloud data in real-time opens new doors for the use of 3D scanners, capable of detecting sensitive anomalies of refined details even in motion trajectories. Codes and sample data of this calibration method is provided at Github (https://github.com/ancorasir/flange_handeye_calibration). Frontiers Media S.A. 2020-05-29 /pmc/articles/PMC7805951/ /pubmed/33501233 http://dx.doi.org/10.3389/frobt.2020.00065 Text en Copyright © 2020 Wan and Song. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Wan, Fang
Song, Chaoyang
Flange-Based Hand-Eye Calibration Using a 3D Camera With High Resolution, Accuracy, and Frame Rate
title Flange-Based Hand-Eye Calibration Using a 3D Camera With High Resolution, Accuracy, and Frame Rate
title_full Flange-Based Hand-Eye Calibration Using a 3D Camera With High Resolution, Accuracy, and Frame Rate
title_fullStr Flange-Based Hand-Eye Calibration Using a 3D Camera With High Resolution, Accuracy, and Frame Rate
title_full_unstemmed Flange-Based Hand-Eye Calibration Using a 3D Camera With High Resolution, Accuracy, and Frame Rate
title_short Flange-Based Hand-Eye Calibration Using a 3D Camera With High Resolution, Accuracy, and Frame Rate
title_sort flange-based hand-eye calibration using a 3d camera with high resolution, accuracy, and frame rate
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805951/
https://www.ncbi.nlm.nih.gov/pubmed/33501233
http://dx.doi.org/10.3389/frobt.2020.00065
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