Correct fusion of data from two sensors is not possible without an accurate estimate of their relative pose, which can be determined through the process of extrinsic calibration. When two or more sensors are capable of producing their own egomotion estimates (i.e., measurements of their trajectories through an environment), the 'hand-eye' formulation of extrinsic calibration can be employed. In this paper, we extend our recent work on a convex optimization approach for hand-eye calibration to the case where one of the sensors cannot observe the scale of its translational motion (e.g., a monocular camera observing an unmapped environment). We prove that our technique is able to provide a certifiably globally optimal solution to both the known- and unknown-scale variants of hand-eye calibration, provided that the measurement noise is bounded. Herein, we focus on the theoretical aspects of the problem, show the tightness and stability of our solution, and demonstrate the optimality and speed of our algorithm through experiments with synthetic data.
Driving among Flatmobiles: Bird-Eye-View occupancy grids from a monocular camera for holistic trajectory planning
Renault S.A.S（雷诺股份有限公司）；Sorbonne universités, Université de technologie de Compiègne, CNRS, Heudiasyc（索邦大学，贡比涅技术大学，法国国家科学研究中心，Heudiasyc实验室）；Monash University（莫纳什大学）
A Certifably Correct Algorithm for Generalized Robot-World and Hand-Eye Calibration
1 Space \& Terrestrial Autonomous Robotic Systems Laboratory, University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada 2 Institute for Experiential Robotics, Northeastern University, Boston, MA, USA 3 Autonomous Robotics；Convex Optimization Laboratory, McMaster University, Hamilton, ON, Canada
On-the-fly hand-eye calibration for the da Vinci surgical robot
Department of Mechanical Engineering, Imperial College London（帝国理工学院机械工程系）；Mechatronics in Medicine Laboratory（医学机电实验室）；Hamlyn Centre for Robotics Surgery（机器人外科哈姆林中心）
Robotic Eye-in-hand Visual Servo Axially Aligning Nasopharyngeal Swabs with the Nasal Cavity
Systems Design Engineering, University of Waterloo（滑铁卢大学系统设计工程系）；Mechanical and Mechatronics Engineering, University of Waterloo（滑铁卢大学机械与机电工程系）；Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院人机学与机器人研究所）
