| 基于运动选择的提高在线手眼标定精度自适应方法 |
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| 引用本文： | 张婧,石繁槐,刘允才. 基于运动选择的提高在线手眼标定精度自适应方法[J]. 上海交通大学学报, 2006, 40(7): 1089-1093 |
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| 作者姓名： | 张婧 石繁槐 刘允才 |
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| 作者单位： | 上海交通大学,图像处理与模式识别研究所,上海,200240;上海交通大学,图像处理与模式识别研究所,上海,200240;上海交通大学,图像处理与模式识别研究所,上海,200240 |
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| 基金项目： | 国家自然科学基金资助项目(NSFC-60375009) |
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| 摘 要： | 针对在线手眼标定算法的鲁棒性,提出了一种根据运动序列的特点自动设定运动选择阈值的在线手眼标定算法.该算法使用三次多项式回归曲线表示手眼标定的RMS误差值和用于运动选择的阈值之间的关系,根据此关系曲线预测新的阈值,进行运动选择.通过该方法,可以避免随机运动序列中存在的小角度运动以及纯平移一类的退化情况对标定精度的影响,得到符合手眼标定精度的要求.实验表明,该方法提高了算法的精度,适用于在线手眼标定的多种情况.
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| 关 键 词： | 自适应 在线手眼标定 多项式回归 均方根误差 |
| 文章编号： | 1006-2467(2006)07-1089-05 |
| 收稿时间： | 2005-06-20 |
| 修稿时间： | 2005-06-20 |
An Adaptive Selection of Motion for Online Hand-Eye Calibration |
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| ZHANG Jing,SHI Fan-huai,LIU Yun-cai. An Adaptive Selection of Motion for Online Hand-Eye Calibration[J]. Journal of Shanghai Jiaotong University, 2006, 40(7): 1089-1093 |
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| Authors: | ZHANG Jing SHI Fan-huai LIU Yun-cai |
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| Abstract: | An adaptive motion selection algorithm for online hand-eye calibration was presented.It can(adaptively) set the thresholds of motion selection according to the characteristics of the unplanned motion sequence.It is achieved by using polynomial-regression to predict the relationship between RMS error of calibration and thresholds.By using motion selection,the bad effect of small rotations and the degenerate motions such as pure translations will be removed and the accuracy of online hand-eye calibration be improved.Thus,this method can adapt itself to the online hand-eye calibration in various applications.(Experiments) using simulated and real data were conducted which present good results. |
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| Keywords: | adaptive online hand-eye calibration polynomial-regression root mean square error |
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