Fast and Accurate 3D Eye-To-hand Calibration for Large-Scale Scene based on HALCON

	Fast and Accurate 3D Eye-To-hand Calibration for Large-Scale Scene based on HALCON
	Wang, Geng 1,2; Quan, Wanlong 2; Li, Yaonan 2; Fang, Siwen 2; Chen, Heping 2
	2021
会议日期	July 27-31, 2021
会议地点	Jiaxing, China
页码	230-234
英文摘要	The premise of robot executing vision-based tasks is to establish the coordination between robot eye (structured light 3D sensor) and a hand (end effector). However, it is inefficient to perform the 3D eye-To-hand calibration for large-scale scene due to large amounts of point clouds data contained in the scene. This paper describes a fast and accurate 3D eye-To-hand calibration method for large-scale scene. A common tee pipe is used as calibration object. The method presented here comprises the following steps: Firstly, voxel grid filtering method is used for reducing the number of point clouds data. Secondly, employing euclidean cluster extraction method, the point clouds data of the calibration object can be extracted from the large-scale scene. Thirdly, the pose of the calibration object is acquired by surface-based 3D matching. Finally, the 3D eye-To-hand calibration is performed, and robot grasping experiments are carried out on ABB YuMi platform to validate the accuracy of calibration results. The experiments demonstrate that our method can achieve high calibration accuracy and significantly improve the efficiency of calibration. © 2021 IEEE.
源文献作者	IEEE Robotics and Automation Society ; Shenyang Institute of Automation CAS ; Shenzhen Academy of Robotics
产权排序	1
会议录	2021 IEEE 11th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2021
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISSN号	2642-6633
ISBN号	978-1-6654-2527-8
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/29928]
专题	沈阳自动化研究所_其他
通讯作者	Wang, Geng
作者单位	1.Shenyang Institute of Automation, Chinese Academy of Sciences(CAS), Shenyang, 110016, China 2.Shenzhen Academy of Robotics, Shenzhen, 518057, China
推荐引用方式 GB/T 7714	Wang, Geng,Quan, Wanlong,Li, Yaonan,et al. Fast and Accurate 3D Eye-To-hand Calibration for Large-Scale Scene based on HALCON[C]. 见:. Jiaxing, China. July 27-31, 2021.