Touch Test Unsafe to perform due to Bad Hand-Eye Calibration (Meters instead of Millimeters)

Problem

The hand-eye calibration results are bad, and it is unsafe to perform the touch test.

Hand-Eye Transform	Hand-Eye Residuals	Projection Verification	Touch Test
Bad	Bad	Bad	Unsafe

Example of bad hand-eye calibration results

The Hand-Eye Transformation Matrix does not look correct because several of its values differ from the physical measurements by extremely large amounts that are not reasonable for this setup.

Hand-Eye Transformation Matrix

0.971	-0.214	-0.108	-1.683
-0.019	0.380	-0.925	375.305
0.239	0.900	0.365	457.970
0	0	0	1

The value 457.970 should be approximately 130 mm, and the value 375.305 should be roughly 90 mm. At this stage we ignore the sign (+/-), because it depends on the coordinate-system definitions; we focus only on the distances.

The calibration residuals are also significantly larger than expected, a couple of orders of magnitude higher.

Residuals

N (Poses)	Rot. avg (°)	Rot. max (°)	Trans. avg (mm)	Trans. max (mm)
14	5.247	12.851	135.333	760.322

For smaller robots, we expect the residuals to in the sub-millimeter range, while for larger robots, the residuals can be in the millimeter range. As for the rotational component of the residuals, we expect them to be in the sub-degree range.

Complete Residuals

Residuals

Pose	Rotation (°)	Translation (mm)
1	0.948	760.322
2	0.746	92.317
3	2.557	177.495
4	9.364	167.930
5	10.202	174.986
6	0.951	55.776
7	10.514	65.690
8	12.851	69.575
9	2.470	70.544
10	2.625	81.236
11	0.927	43.069
12	2.134	32.829
13	10.851	44.558
14	6.316	58.329

Verification by Projection fails, which suggest that the hand-eye calibration is not correct, and that the touch test will fail badly.

Potential Cause

The robot poses (translation component) for the Hand-Eye Calibration are provided in meters.

Most industrial robots use meters as the default unit for the robot poses. However, Zivid point clouds are given in millimeters. To have a correct hand-eye calibration, the robot input poses for hand-eye calibration and point clouds must expressed in the same units. Having the robot poses in meters and the point clouds in millimeters is destined to lead to a bad hand-eye calibration with completely incorrect hand-eye transformation matrix.

경고

ROS standardizes on SI units, so robot poses from ROS topics use meters. If you collect robot poses via ROS, convert the translation components to millimeters before running hand-eye calibration.

Potential Solution

1. Ensure the robot input poses are in millimeters.

   Note: You can just divide the translation component of the robot poses by 1000 if they are in meters, to convert them to millimeters.

2. Repeat the hand-eye calibration using the same dataset (with robot poses in millimeters).

3. Verify the hand-eye calibration results (transform, residuals, projection).

4. Run the touch test (if the hand-eye calibration results are good).

Reproducing the Issue (Robot Pose in Meters instead of Millimeters)

Good Dataset

A hand-eye calibration was successfully performed using the dataset shown in the images below.

The calibration resulted in the following results:

Hand-Eye Transformation Matrix

0.999	-0.004	0.043	-55.476
0.004	1.000	0.013	-91.613
-0.043	-0.013	0.999	128.667
0	0	0	1

Residuals

N (Poses)	Rot. avg (°)	Rot. max (°)	Trans. avg (mm)	Trans. max (mm)
14	0.019	0.029	0.144	0.222

Complete Residuals

Residuals

Pose	Rotation (°)	Translation (mm)
1	0.026	0.071
2	0.013	0.218
3	0.020	0.146
4	0.026	0.222
5	0.026	0.181
6	0.007	0.114
7	0.007	0.128
8	0.015	0.066
9	0.023	0.110
10	0.010	0.113
11	0.024	0.149
12	0.023	0.175
13	0.029	0.184
14	0.022	0.132

The Hand-Eye calibration was verified with a touch test.

The touch test was successful, which confirms that the hand-eye calibration is correct and accurate.

Bad Dataset (robot poses in meters instead of millimeters)

To simulate the problem, translation vectors from the input robot poses in the hand-eye calibration dataset were converted from millimeters to meters. Hand-Eye calibration was performed again on the same dataset with modified robot poses.

The calibration resulted in the following results:

Hand-Eye Transformation Matrix

0.971	-0.214	-0.108	-1.683
-0.019	0.380	-0.925	375.305
0.239	0.900	0.365	457.970
0	0	0	1

Residuals

N (Poses)	Rot. avg (°)	Rot. max (°)	Trans. avg (mm)	Trans. max (mm)
14	5.247	12.851	135.333	760.322

Complete Residuals

Residuals

Pose	Rotation (°)	Translation (mm)
1	0.948	760.322
2	0.746	92.317
3	2.557	177.495
4	9.364	167.930
5	10.202	174.986
6	0.951	55.776
7	10.514	65.690
8	12.851	69.575
9	2.470	70.544
10	2.625	81.236
11	0.927	43.069
12	2.134	32.829
13	10.851	44.558
14	6.316	58.329

Verification by Projection failed, which suggests that the hand-eye calibration is not correct, and that the touch test will fail badly. Therefore, the touch test was skipped for safety reasons.

Comparisons

The results between hand-eye transformation matrices (translation values) and hand-eye calibration residuals are compared in the tables below.

Translation Values in Hand-Eye Transformation Matrix

Dataset	X (mm)	Y (mm)	Z (mm)
Good (Poses in mm)	-55.476	-91.613	128.667
Bad (Poses in m)	-1.683	375.305	457.970
Δ (Good - Bad)	-53.793	-466.918	-329.303

Residuals

Dataset	N	Rot. avg (°)	Rot. max (°)	Trans. avg (mm)	Trans. max (mm)
Good (Poses in mm)	14	0.019	0.029	0.144	0.222
Bad (Poses in m)	14	5.247	12.851	135.333	760.322