激光轮廓传感器任意目标的现场平移手眼标定
In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects
摘要：
激光轮廓传感器的手眼标定是提取激光轮廓传感器坐标系与机器人末端执行器坐标系之间的齐次变换，以将传感器提取的数据表达在机器人全局坐标系中的过程。对于激光轮廓扫描仪，这是一个具有挑战性的过程，因为它们仅提供二维数据，并且最先进的校准程序需要使用专门的校准目标。本文提出了一种新的方法，在目标不可知的情况下，提取旋转部分先验已知的手眼标定矩阵的旋转部分。我们的方法适用于任何2D图像或3D对象作为校准目标，也可以在最终应用中原位执行。该方法的实验验证了一个真正的机器人传感器设置与2D和3D目标。
英文摘要：
Hand-eye calibration of laser profile sensors is the process of extracting the homogeneous transformation between the laser profile sensor frame and the end-effector frame of a robot in order to express the data extracted by the sensor in the robot's global coordinate system. For laser profile scanners this is a challenging procedure, as they provide data only in two dimensions and state-of-the-art calibration procedures require the use of specialised calibration targets. This paper presents a novel method to extract the translation-part of the hand-eye calibration matrix with rotation-part known a priori in a target-agnostic way. Our methodology is applicable to any 2D image or 3D object as a calibration target and can also be performed in situ in the final application. The method is experimentally validated on a real robot-sensor setup with 2D and 3D targets.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
