Hand-Eye Calibration Using Dual Quaternions

Publisher Website
Google Scholar
Abstract
To relate measurements made by a sensor mounted on a mechanical link to the robot’s coordinate frame, we must first estimate the transformation between these two frames. Many algorithms have been proposed for this so-called hand-eye calibration, but they do not treat the relative position and orientation in a unified way. In this paper, we introduce the use of dual quaternions, which are the algebraic counterpart of screws. Then we show how a line transformation can be written with the dual-quaternion product. We algebraically prove that if we consider the camera and motor transformations as screws, then only the line coefficients of the screw axes are relevant regarding the hand-eye calibration. The dual-quaternion parameterization facilitates a new simultaneous solution for the hand-eye rotation and translation using the singular value decomposition. Real-world performance is assessed directly in the application of hand-eye information for stereo reconstruction, as well as in the positioning of cameras. Both real and synthetic experiments show the superiority of the approach over two other proposed methods.

This publication has 13 references indexed in Scilit: