提出一种新型相机-机器人标定方法，实现地面测量的亚毫米级精度。
A Novel Camera-to-Robot Calibration Method for Vision-Based Floor Measurements
- 用带反光靶标的参考板融合激光跟踪仪与摄像头数据
- 实验验证系统重复性优于1毫米，支持高精度地面测量
- 适合需要精准视觉定位的移动机器人应用
针对地面观测型移动机器人，提出一种新型手眼标定方法。尽管机器人普遍配备摄像头，但很少用于精确的地面测量任务。激光跟踪仪在机器人精确定位中日益普及。为此设计了一种参考板，融合激光跟踪仪三维量测与相机二维成像两种模态：板上设有用于激光跟踪仪姿态获取的反光靶窝，以及供机器人搭载相机观测的标定目标。标定流程包括估计板位姿、板-相机位姿、机器人位姿，最终计算出机器人-相机变换关系。实验表明该方法具有亚毫米级重复性。
原文摘要 · Abstract (English)
A novel hand-eye calibration method for ground-observing mobile robots is proposed. While cameras on mobile robots are common, they are rarely used for ground-observing measurement tasks. Laser trackers are increasingly used in robotics for precise localization. A referencing plate is designed to combine the two measurement modalities of laser-tracker 3D metrology and camera-based 2D imaging. It incorporates reflector nests for pose acquisition using a laser tracker and a camera calibration target that is observed by the robot-mounted camera. The procedure comprises estimating the plate pose, the plate-camera pose, and the robot pose, followed by computing the robot-camera transformation. Experiments indicate sub-millimeter repeatability.
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