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A comparative review of hand-eye calibration techniques for vision guided robots
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Enebuse, Ikenna, Foo, Mathias, Ibrahim, Babul K. K. S. M., Ahmed, Hafiz, Supmak, Fhon and Odongo, Steven A. (2021) A comparative review of hand-eye calibration techniques for vision guided robots. IEEE Access, 9 . pp. 113143-113155. doi:10.1109/ACCESS.2021.3104514 ISSN 2169-3536.
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Official URL: https://doi.org/10.1109/ACCESS.2021.3104514
Abstract
Hand-eye calibration enables proper perception of the environment in which a vision guided robot operates. Additionally, it enables the mapping of the scene in the robots frame. Proper hand-eye calibration is crucial when sub-millimetre perceptual accuracy is needed. For example, in robot assisted surgery, a poorly calibrated robot would cause damage to surrounding vital tissues and organs, endangering the life of a patient. A lot of research has gone into ways of accurately calibrating the hand-eye system of a robot with different levels of success, challenges, resource requirements and complexities. As such, academics and industrial practitioners are faced with the challenge of choosing which algorithm meets the implementation requirements based on the identified constraints. This review aims to give a general overview of the strengths and weaknesses of different hand-eye calibration algorithms available to academics and industrial practitioners to make an informed design decision, as well as incite possible areas of research based on the identified challenges. We also discuss different calibration targets which is an important part of the calibration process that is often overlooked in the design process.
Item Type: | Journal Article | ||||||
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Subjects: | T Technology > TA Engineering (General). Civil engineering (General) T Technology > TJ Mechanical engineering and machinery T Technology > TS Manufactures |
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Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||||
Library of Congress Subject Headings (LCSH): | Robots, Industrial, Calibration , Computer vision, Robot vision | ||||||
Journal or Publication Title: | IEEE Access | ||||||
Publisher: | IEEE | ||||||
ISSN: | 2169-3536 | ||||||
Official Date: | 12 August 2021 | ||||||
Dates: |
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Volume: | 9 | ||||||
Page Range: | pp. 113143-113155 | ||||||
DOI: | 10.1109/ACCESS.2021.3104514 | ||||||
Status: | Peer Reviewed | ||||||
Publication Status: | Published | ||||||
Access rights to Published version: | Open Access (Creative Commons) | ||||||
Date of first compliant deposit: | 16 August 2021 | ||||||
Date of first compliant Open Access: | 17 August 2021 | ||||||
RIOXX Funder/Project Grant: |
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Open Access Version: |
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