Effective Self-calibration for Camera Parameters and Hand-eye Geometry Based on Two Feature Points Motions

Jia Sun; Peng Wang; Zhengke Qin; Hong Qiao

doi:10.1109/JAS.2017.7510556

Volume 4 Issue 2

Apr. 2017

IEEE/CAA Journal of Automatica Sinica

JCR Impact Factor: 15.3, Top 1 (SCI Q1)

CiteScore: 23.5, Top 2% (Q1)
Google Scholar h5-index: 77， TOP 5

Turn off MathJax

Article Contents

Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2017 > 4(2): 370-380

Jia Sun, Peng Wang, Zhengke Qin and Hong Qiao, "Effective Self-calibration for Camera Parameters and Hand-eye Geometry Based on Two Feature Points Motions," IEEE/CAA J. Autom. Sinica, vol. 4, no. 2, pp. 370-380, Apr. 2017. doi: 10.1109/JAS.2017.7510556

Citation:

Jia Sun, Peng Wang, Zhengke Qin and Hong Qiao, "Effective Self-calibration for Camera Parameters and Hand-eye Geometry Based on Two Feature Points Motions," IEEE/CAA J. Autom. Sinica, vol. 4, no. 2, pp. 370-380, Apr. 2017. doi: 10.1109/JAS.2017.7510556

Citation:

PDF( 7414 KB)

Effective Self-calibration for Camera Parameters and Hand-eye Geometry Based on Two Feature Points Motions

doi: 10.1109/JAS.2017.7510556

Jia Sun^{1, 2
,},
Peng Wang^{1
,
,},
Zhengke Qin^{1, 2
,},
Hong Qiao^1
,

1.
Institute of Automation, Chinese Academy of Sciences (CASIA), Beijing 100190, China
2.
University of Chinese Academy of Sciences, Beijing 100190, China

Funds:

This work was partly supported by the National Natural Science Foundation of China 61379097

This work was partly supported by the National Natural Science Foundation of China 61401463

This work was partly supported by the National Natural Science Foundation of China 61100098

More Information

Author Bio:
Jia Sun received the B.S. degree from the North University of China, Taiyuan, China, in 2009, and the M.S. degree from the Beijing Institute of Technology, Beijing, China, in 2012. She is currently pursuing the Ph.D. degree with the University of Chinese Academy of Sciences, Beijing. Her current research interests include robot vision, precise assembly, and camera calibration.(e-mail: jia.sun@ia.ac.cn)

Zhengke Qin received the B.S. degree from the Huazhong University of Science and Technology, Wuhan, China, in 2012. He is currently pursuing the Ph.D. degree with the University of Chinese Academy of Sciences, Beijing. His current research interests include computer vision and robotic assembly.(e-mail: qinzhengke2012@ia.ac.cn)

Hong Qiao (SM'06) received the B.Eng. degree in hydraulics and control, the M.Eng. degree in robotics from Xi'an Jiaotong University, Xi'an, China, the M.Phil. degree in robotics control from the Industrial Control Center, University of Strathclyde, Strathclyde, U.K., and the Ph.D. degree in robotics and artificial intelligence from De Montfort University, Leicester, U.K., in 1995. She was a research assistant professor from 1997 to 2000 and an assistant professor from 2000 to 2002 with the Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Kowloon, Hong Kong. In 2002, she joined as a lecturer with the School of Informatics, University of Manchester, Manchester, U.K. She is currently a professor with the State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China.(e-mail: hong.qiao@ia.ac.cn)
Corresponding author: Peng Wang (M'11) received the B.Eng. degree in electrical engineering and automation from Harbin Engineering University, Harbin, China, in 2004, the M.Eng. degree in automation science and engineering from Harbin Institute of Technology, Harbin, China, in 2007, and the Ph.D. degree from Institute of Automation, Chinese Academy of Sciences, Beijing, China, in 2010. He is currently an associate professor with the Institute of Automation, Chinese Academy of Sciences, Beijing, China. His current research interests include intelligent robot, industrial robot, robotic assembly, robotic vision, image processing and visual perception model. (e-mail: peng wang@ia.ac.cn)
Received Date: 2016-07-04
Accepted Date: 2017-01-16

Abstract

Abstract

A novel and effective self-calibration approach for robot vision is presented, which can effectively estimate both the camera intrinsic parameters and the hand-eye transformation at the same time. The proposed calibration procedure is based on two arbitrary feature points of the environment, and three pure translational motions and two rotational motions of robot endeffector are needed. New linear solution equations are deduced, and the calibration parameters are finally solved accurately and effectively. The proposed algorithm has been verified by simulated data with different noise and disturbance. Because of the need of fewer feature points and robot motions, the proposed method greatly improves the efficiency and practicality of the calibration procedure.
- Camera calibration,
- hand-eye calibration,
- robot vision,
- two feature points

FullText(HTML)

References(28)

References

[1]	D. Fontanelli, F. Moro, T. Rizano, and L. Palopoli, "Vision-Based Robust Path Reconstruction for Robot Control, " IEEE Trans. Instrum. Meas. , vol. 63, no. 4, pp. 826-837, Apr. 2014. http://ieeexplore.ieee.org/document/6671373/
[2]	J. Y. Lu, D. Xu, Z. K. Qin, P. Wang, and C. Ren, "An automatic alignment strategy of large diameter components with a multi-sensor system, " Acta Automat. Sinica, vol. 41, no. 10, pp. 1711-1722, Oct. 2015. https://www.researchgate.net/publication/286843366_An_automatic_alignment_strategy_of_large_diameter_components_with_a_multi-sensor_system
[3]	A. A. Shafie, A. B. M. Ibrahim, and M. M. Rashid, "Smart objects identification system for robotic surveillance, " Int. J. Automat. Comput. , vol. 11, no. 1, pp. 59-71, Feb. 2014. doi: 10.1007/s11633-014-0766-9
[4]	J. Sun, P. Wang, Z. K. Qin, and H. Qiao, "Overview of camera calibration for computer vision, " in Proc. 11th World Congr. Intelligent Control and Automation (WCICA), Shenyang, China, 2014, pp. 86-92. http://ieeexplore.ieee.org/xpl/abstractAuthors.jsp?reload=true&arnumber=7052692&filter%3DAND%28p_IS_Number%3A7052676%29
[5]	J. Hieronymus, "Comparison of methods for geometric camera calibration, " in Proc. Int. Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXIX-B5, 2012, XXII ISPRS Congress, Melbourne, Australia, 2012, pp. 595-599.
[6]	L. Wang, F. Q. Duan, and K. Lv, "Camera calibration with one-dimensional objects based on the heteroscedastic error-in-variables model, " Acta Automat. Sinica, vol. 40, no. 4, pp. 643-652, Apr. 2014. doi: 10.1007/3-540-47979-1_11
[7]	R. Y. Tsai, "An efficient and accurate camera calibration technique for 3D machine vision, " in Proc. 1986 IEEE Conf. Computer Vision and Pattern Recognition, Miami, FL, USA, 1986, 364-374.
[8]	Z. Y. Zhang, "A flexible new technique for camera calibration, " IEEE Trans. Pattern Anal. Mach. Intell. , vol. 22, no. 11, pp. 1330-1334, Nov. 2000. http://www.microsoft.com/en-us/research/project/a-flexible-new-technique-for-camera-calibration-2/
[9]	M. Große, M. Schaffer, B. Harendt, and R. Kowarschik, "Camera calibration using time-coded planar patterns, " Opt. Eng. , vol. 51, no. 8, pp. Article ID 083604, Aug. 2012. http://docs.opencv.org/doc/tutorials/calib3d/camera_calibration/camera_calibration.html
[10]	Z. J. Zhao, Y. C. Liu, and Z. Y. Zhang, "Camera calibration with three noncollinear points under special motions, " IEEE Trans. Image Process. , vol. 17, no. 12, pp. 2393-2402, Dec. 2008. http://www.microsoft.com/en-us/research/publication/camera-calibration-with-three-noncollinear-points-under-special-motions/
[11]	X. C. Cao and H. Foroosh, "Camera calibration using symmetric objects, " IEEE Trans. Image Process. , vol. 15, no. 11, pp. 3614-3619, Nov. 2006. http://dl.acm.org/citation.cfm?id=2321195
[12]	P. Hammarstedt, P. Sturm, and A. Heyden, "Degenerate cases and closed-form solutions for camera calibration with one-dimensional objects, " in Proc. 10th IEEE Int. Conf. Computer Vision, Beijing, China, 2005, pp. 317-324. http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1541273
[13]	Z. Y. Zhang, "Camera calibration with one-dimensional objects, " IEEE Trans. Pattern Anal. Mach. Intell. , vol. 26, no. 7, pp. 892-899, Jul. 2004. http://www.manong5.com/101199354/
[14]	I. Miyagawa, H. Arai, and H. Koike, "Simple camera calibration from a single image using five points on two orthogonal 1-D objects, " IEEE Trans. Image Process. , vol. 19, no. 6, pp. 1528-1538, Jun. 2010. http://ieeexplore.ieee.org/document/5404333/
[15]	S. J. Maybank and O. D. Faugeras, "A theory of self-calibration of a moving camera, " Int. J. Comput. Vis. , vol. 8, no. 2, pp. 123-151, Aug. 1992. doi: 10.1007/BF00127171
[16]	H. Wildenauer and A. Hanbury, "Robust camera self-calibration from monocular images of Manhattan worlds, " in Proc. 2012 IEEE Conf. Computer Vision and Pattern Recognition, Providence, RI, USA, 2012, pp. 2831-2838. http://ieeexplore.ieee.org/document/6248008/
[17]	D. N. Dawson and S. T. Birchfield, "An energy minimization approach to automatic traffic camera calibration, " IEEE Trans. Intell. Transp. Syst. , vol. 14, no. 3, pp. 1095-1108, Sep. 2013. https://researchbank.rmit.edu.au/view/rmit:28392
[18]	S. D. Ma, "A self-calibration technique for active vision systems, " IEEE Trans. Robot. Automat. , vol. 12, no. 1, pp. 114-120, Feb. 1996. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=481755
[19]	C. Almeida Santos, C. Oliveira Costa, and J. Batista, "A vision-based system for measuring the displacements of large structures: Simultaneous adaptive calibration and full motion estimation, " Mech. Syst. Signal Process. , vol. 72-73, pp. 678-694, May2016. http://www.sciencedirect.com/science/article/pii/S0888327015004938
[20]	N. Andreff, R. Horaud, and B. Espiau, "Robot hand-eye calibration using structure-from-motion, " Int. J. Robot. Res. , vol. 20, no. 3, pp. 228-248, Mar. 2001. http://campar.in.tum.de/Chair/HandEyeCalibration
[21]	H. Malm and A. Heyden, "Hand-eye calibration from image derivatives, " in Proc. 6th European Conf. Computer Vision, Dublin, Ireland, 2000, pp. 493-507.
[22]	H. Malm and A. Heyden, "Simplified intrinsic camera calibration and hand-eye calibration for robot vision, " in Proc. 2003 IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Las Vegas, NV, USA, vol. 1, pp. 1037-1043, 2003. https://lup.lub.lu.se/search/search/publication/0592b128-98d6-46f1-998c-16fc3699eaaa
[23]	Z. J. Zhao and Y. Weng, "A flexible method combining camera calibration and hand-eye calibration, " Robotica, vol. 31, no. 5, pp. 747-756, Aug. 2013. doi: 10.1007/978-3-642-04667-4_11
[24]	K. H. Strobl and G. Hirzinger, "More accurate camera and hand-eye calibrations with unknown grid pattern dimensions, " in Proc. 2008 IEEE Int. Conf. Robotics and Automation, Pasadena, CA, USA, 2008, pp. 1398-1405. https://www.researchgate.net/publication/224318444_More_Accurate_Camera_and_Hand-Eye_Calibrations_with_Unknown_Grid_Pattern_Dimensions
[25]	H. X. Wang, X. H. Fan, and X. Lu, "Application of a hand-eye self-calibration technique in robot vision, " in Proc. 25th Chinese Control and Decision Conf. , Guiyang, China, 2013, pp. 3765-3769.
[26]	C. Lei, F. C. Wu, and Z. Y. Hu, "A new camera self-calibration method based on active vision system, " Chin. J. Comput. , vol. 23, no. 11, pp. 1130-1139, Nov. 2000. http://ieeexplore.ieee.org/document/6706377/
[27]	Y. Kim, Y. K. Kim, K. S. Kim, S. Kim, B. M. Kwak, I. G. Jang, Y. S. Jung, and E. H. Kim, "Structure optimization of 1-D laser sensors assembly for robust 6-DOF measurement, " in Proc. 2012 IEEE Int. Systems Conf. , Vancouver, BC, Canada, 2012, pp. 1-4. http://ieeexplore.ieee.org/document/6189442/
[28]	Z. K. Qin, P. Wang, J. Sun, J. Y. Lu, and H. Qiao, "Precise robotic assembly for large-scale objects based on automatic guidance and alignment, " IEEE Trans. Instrum. Meas. , vol. 65, no. 6, pp. 1398-1411, Jun. 2016. http://ieeexplore.ieee.org/document/7419242/

Supplements(0)

Cited By

Proportional views

Proportional views

通讯作者: 陈斌, bchen63@163.com

1.
沈阳化工大学材料科学与工程学院沈阳 110142

Figures(5) / Tables(4)

Get Citation

PDF

XML

Article Metrics

Article views (1454) PDF downloads(250)

Effective Self-calibration for Camera Parameters and Hand-eye Geometry Based on Two Feature Points Motions

doi: 10.1109/JAS.2017.7510556

Abstract

References

Proportional views

Catalog

通讯作者: 陈斌, bchen63@163.com

Article Metrics

Export File

Citation

Format

Content