TY - JOUR
T1 - Hand-Eye Calibration: 4-D Procrustes Analysis Approach
AU - Wu, Jin
AU - Sun, Yuxiang
AU - Wang, Miaomiao
AU - Liu, Ming
N1 - Funding Information:
Manuscript received April 24, 2019; revised June 18, 2019; accepted July 11, 2019. Date of publication August 6, 2019; date of current version May 12, 2020. This work was supported by the National Natural Science Foundation of China (Grant No. U1713211), the Research Grant Council of Hong Kong SAR Government, China, under Project No. 11210017, and No. 21202816, and Shenzhen Science, Technology and Innovation Commission (SZSTI) JCYJ20160428154842603, awarded to Prof. Ming Liu. The Associate Editor coordinating the review process was Peter Liu. (Corresponding author: Ming Liu.) J. Wu, Y. Sun, and M. Liu are with the Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong (e-mail: [email protected]; [email protected]; [email protected]).
Publisher Copyright:
© 1963-2012 IEEE.
PY - 2020/6
Y1 - 2020/6
N2 - We give a universal analytical solution to the hand-eye calibration problem {AX} = {XB} with known matrices {A} and {B} and unknown variable {X} , all in the set of special Euclidean group SE(3). The developed method relies on the 4-D Procrustes analysis. A unit-octonion representation is proposed for the first time to solve such a Procrustes problem through which an optimal closed-form eigendecomposition solution is derived. By virtue of such a solution, the uncertainty description of {X} , being a sophisticated problem previously, can be solved in a simpler manner. The proposed approach is then verified using simulations and real-world experimentations on an industrial robotic arm. The results indicate that it owns better accuracy and better description of uncertainty and consumes much less computation time.
AB - We give a universal analytical solution to the hand-eye calibration problem {AX} = {XB} with known matrices {A} and {B} and unknown variable {X} , all in the set of special Euclidean group SE(3). The developed method relies on the 4-D Procrustes analysis. A unit-octonion representation is proposed for the first time to solve such a Procrustes problem through which an optimal closed-form eigendecomposition solution is derived. By virtue of such a solution, the uncertainty description of {X} , being a sophisticated problem previously, can be solved in a simpler manner. The proposed approach is then verified using simulations and real-world experimentations on an industrial robotic arm. The results indicate that it owns better accuracy and better description of uncertainty and consumes much less computation time.
KW - Hand-eye calibration
KW - homogenous transformation
KW - least squares
KW - octonions
KW - quaternions
UR - http://www.scopus.com/inward/record.url?scp=85085132845&partnerID=8YFLogxK
U2 - 10.1109/TIM.2019.2930710
DO - 10.1109/TIM.2019.2930710
M3 - Journal article
AN - SCOPUS:85085132845
SN - 0018-9456
VL - 69
SP - 2966
EP - 2981
JO - IEEE Transactions on Instrumentation and Measurement
JF - IEEE Transactions on Instrumentation and Measurement
IS - 6
M1 - 8788685
ER -