Eye-on-Hand Calibration Method Based on Specular Reflection

Abstract

Abstract: For the Eye-on-Hand calibration problems of eye-on-hand robots， a Eye-on-Hand calibration method was proposed based on specular reflection.Images were captured through specular reflection， and a linear solution algorithm was used to determine the pose relationship between ends of the robot and camera coordinate system according to the image theory.In contrast to the conventional calibration method， this method only needed to change the attitudes of plane mirrors 3 times，and might simultaneously get the camera??s internal parameters and pose relationship of the Eye-on-Hand vision systems.It will eliminate robot motion errors caused by the robot's motion parameters in traditional calibration methods.Finally，compared with the Halcon Eye-on-Hand calibration algorithm， the correctness and feasibility of the proposed method were verified.

Key words: Eye-on-Hand, specular reflection, image theory, calibration

摘要： 针对Eye-on-Hand机器人手眼系统的标定问题，提出一种基于镜面反射的手眼标定方法。通过镜面反射获取图像，根据镜像原理，通过线性求解算法确定机器人末端执行器和相机坐标系的位姿关系。与以往的标定方法不同，该方法只需要3次改变平面镜的姿态，就能同时获得相机的内参数和手眼视觉系统的位姿关系，不会引入传统标定方法中利用机器人运动参数而产生的机器人运动误差。最后将其与Halcon手眼标定算法进行对比，验证了所提方法的正确性和可行性。

关键词: 手眼系统, 镜面反射, 镜像原理, 标定

CLC Number:

TP242.2

ZHANG Xu1;JIA Junhui1;ZHANG Gang2. Eye-on-Hand Calibration Method Based on Specular Reflection[J]. China Mechanical Engineering.

张旭1;贾君慧1;张刚2. 基于镜面反射的手眼标定方法[J]. 中国机械工程.

References

[1]王敏，王万俊，黄心汉.空间物体定位的机器人手眼视觉标定方法[J].华中科技大学学报（自然科学版），2001，29（3）：45-47.
WANG Min，WANG Wanjun，HUANG Xinhan.Calibration Method of Robotic Hand-eye Vision for Object Orientation[J].Journal of Huazhong University of Science and Technology（Natural Science），2001，29（3）： 45-47.
[2]XU Xiaohu，ZHU Dahu，ZHANG Haiyang，et al.TCP- based Calibration in Robot-assisted Belt Grinding of Aero-engine Blades Using Scanner Measurements[J].The International Journal of Advanced Manufacturing Technology，2016，90（1/4）：1-13.
[3]LI Jianfeng，ZHU Jianhua，GUO Yongkang， et al.Calibration of a Portable Laser 3-D Scanner Used by a Robot and Its Use in Measurement[J].Optical Engineering，2008，47（1）：10.1117/1.2829766.
[4]杨广林，孔令富，王洁.一种新的机器人手眼关系标定方法[J].机器人，2006，28（4）：400-405.
YANG Guanglin，KONG Lingfu，WANG Jie.A New Calibration Approach to Hand-Eye Relation of Manipulator[J].Robot，2006，28（4）：400-405.
[5]程玉立.面向工业应用的机器人手眼标定与物体定位[D].杭州：浙江大学，2016.
CHENG Yuli.Hand-Eye Calibration and Object Localization for Industrial Robotic Application[D].Hangzhou： Zhejiang University，2016.
[6]张召瑞，张旭，郑泽龙，等.融合旋转平移信息的机器人手眼标定方法[J].仪器仪表学报，2015，36（11）：2443-2450.
ZHANG Zhaorui，ZHANG Xu，ZHENG Zelong，et al.Hand-Eye Calibration Method Using Rotational and Translational Constraint Information[J].Chinese Journal of Scientific Instrument，2015，36（11）： 2443-2450.
[7]RUI R，JO?O P B，URBANO N.Camera Pose Estimation Using Images of Planar Mirror Reflections[C]//European Conference on Computer Vision.Berlin， 2010： 382-395.
[8]HESCH J A，MOURIKIS A I，ROUMELIOTIS S I.Mirror-based Extrinsic Camera Calibration[M]//Algorithmic Foundation of Robotics Ⅷ.Berlin：Springer，2009：285-299.
[9]TSAI R Y，LENZ R K.A New Technique for Fully Autonomous and Efficient 3D Robotics Hand/Eye Calibration[J].IEEE Transactions on Robotics and Automation， 1989，5（3）：345-358.
[10]ZHANG Zhengyou.A Flexible New Technique for Camera Calibration[J].IEEE Transactions on Pattern Analysis and Machine Intelligence，2000，22（11）：1330-1334.
[11]林育斌.基于计算机视觉的三维重建技术研究[D].天津：天津大学，2010.
LIN Yubin.Research of 3D Reconstruction Based on Computer Vision[D].Tianjin：Tianjin University， 2010.
[12]杜歆，徐钢梅，朱云芳，等.一种基于单相机三维重建的简单方法[J].传感技术学报，2007，20（8）： 1917-1920.
DU Xin，XU Gangmei，ZHU Yunfang，et al.A Simple 3D Reconstruction Method Based on Single Camera[J].Chinese Journal of Sensors and Actuators， 2007，20（8）：1917-1920.

[1]	JIA Rui-Xue, LEI Rong-Qing, LIU Ning, DONG Jing-Chao. A Method of Automatic Extracting Feature Point Coordinates Based on Circle Array Target [J]. J4, 201016, 21(16): 1906-1910.
[2]	JIANG Jiguang, HOU Jue, SU Chengzhi, BA Qijiao, TIAN Aixin, XU Mingyu. Research on Optimal Pose Set Planning Method under Physical Constraint Robot Kinematics Calibration [J]. China Mechanical Engineering, 2024, 35(03): 472-480.
[3]	SUN Jiale, LUO Chen, ZHOU Yijun, WANG Wei, ZHANG Gang. Calibration Parameter Optimization and Accuracy Evaluation of Complex Visual Measurement Systems [J]. China Mechanical Engineering, 2023, 34(14): 1741-1748,1755.
[4]	LIN Xin, ZHANG Jie, FENG Jingyi, MENG Jie, WANG Shuting. Highly Robust Two-stage LiDAR-IMU External Parameter Online Calibration Algorithm [J]. China Mechanical Engineering, 2022, 33(24): 2980-2989.
[5]	GAO Wenbin, CHU Yajie, YU Xiaoliu, . A Kinematic-parameter Calibration Method of Robots Based on Tool Coordinate [J]. China Mechanical Engineering, 2022, 33(18): 2183-2189.
[6]	NI Huakang, YANG Zeyuan, YANG Yifan, CHEN Xindu, YAN Sijie, DING Han. Robot Kinematics Calibration Method Considering Base Frame Errors [J]. China Mechanical Engineering, 2022, 33(06): 647-655.
[7]	LYU Rui, PENG Zhen, LYU Yuanjian, TIAN Linli, ZHU Dahu. Relocalization-based Hand-eye Calibration Algorithm for Blade Robotic Grinding Systems [J]. China Mechanical Engineering, 2022, 33(03): 339-347.
[8]	REN Zongjin, LI Yang, XU Tianguo, LYU Jiangshan, HONG Ji. Research on Multi-point Measurement of Pneumatic Multi-dimensional Forces under Combined Support Mode [J]. China Mechanical Engineering, 2022, 33(02): 170-175,186.
[9]	LI Famin, ZHENG Tianjiang, SHEN Wenjun, WANG Huixiao, FANG Zaojun, LIANG Dongtai. Calibration Method for Cable-driven Continuum Robots [J]. China Mechanical Engineering, 2022, 33(02): 202-208.
[10]	GAO Jianping, YU Jiaheng, MENG Yao, XI Jianguo. Research and Verification of Control Parameter Automatic Optimization Calibration Simulation System for Electric Vehicles [J]. China Mechanical Engineering, 2022, 33(01): 118-125.
[11]	FENG Fei, YANG Haitao, TANG Lina, DING Han, . Key Technologies of Design and Performance Improvement of Heavy-duty and High Precision Machining Robot Bodies for Large-scale Components [J]. China Mechanical Engineering, 2021, 32(19): 2269-2287.
[12]	HAO Rui, PENG Bei, ZHOW Wu. Research on Hysteresis Compensation Method of MEMS Piezoelectric Vibratory Platforms [J]. China Mechanical Engineering, 2021, 32(17): 2118-2124.
[13]	YANG Yanling, YU Jing, LIN Ximeng, CAI Jinhui. Optimal Design of Contact Probes for Three-dimensional Thread Measuring Machines#br# [J]. China Mechanical Engineering, 2021, 32(15): 1812-1817.
[14]	ZHANG Enzheng, TANG Ningmin, CHEN Gang, LIU Cuiping. Industrial Robot Calibration Based on Improved IGG3 Weight Function of Distance Error Model#br# [J]. China Mechanical Engineering, 2021, 32(13): 1539-1546.
[15]	ZHANG Fengfeng, ZHANG Xin, CHEN Long, SUN Lining, ZHAN Wei. Binocular Camera Calibration Based on BP Neural Network Optimized by Improved Genetic Algorithm#br# [J]. China Mechanical Engineering, 2021, 32(12): 1423-1431.