TY - JOUR

T1 - A Comparative Review of Hand-Eye Calibration Techniques for Vision Guided Robots

AU - Enebuse, Ikenna

AU - Foo, Mathias

AU - Ibrahim, Babul Salam Ksm Kader

AU - Ahmed, Hafiz

AU - Supmak, Fhon

AU - Eyobu, Odongo Steven

PY - 2021/8/12

Y1 - 2021/8/12

N2 - 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.

AB - 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.

KW - Robots

KW - Robot kinematics

KW - Cameras

KW - Robot vision systems

KW - Calibration

KW - Service robots

KW - Three-dimensional displays

KW - Calibration target

KW - camera-world transform

KW - computer vision

KW - hand-eye calibration

KW - robot-hand transform

KW - rotation

KW - translation

KW - vision guided robot

U2 - 10.1109/ACCESS.2021.3104514

DO - 10.1109/ACCESS.2021.3104514

M3 - Review article

VL - 9

SP - 113143

EP - 113155

JO - IEEE ACCESS

JF - IEEE ACCESS

SN - 2169-3536

ER -