手眼标定

介绍

手眼标定用于将相机（"眼睛"）看到的内容与机器人手臂（"手"）移动的位置关联起来。

Eye-in-hand calibration

A process for determining the position and orientation of a statically mounted camera with respect to the robot's base frame. It is usually done by placing an object of known geometry in the robot's gripper, followed by taking a series of images of it in a set of different positions and orientations.

Eye-to-hand calibration

A process for determining the relative position and orientation of a robot-mounted camera with respect to the robot's end-effector. It is usually done by capturing a set of images of a static object of known geometry with the robot arm located in a set of different positions and orientations.

Articles & Tutorials

• Hand-Eye Calibration Concept and Theory
• Zivid Calibration Object
• How to run and integrate Zivid Hand-Eye Calibration
• How to get Good Dataset for Hand-Eye Calibration
• Cautions and Recommendations for Hand-Eye Calibration
• How to Verify Hand-Eye Calibration
• How to troubleshoot Hand-Eye Calibration
• How To Use the Result of Hand-Eye Calibration

Where to Start?

Learning

• Hand-Eye Calibration Concept and Theory

  Covers the concept and theory of hand-eye calibration without going into the details of the Zivid hand-eye calibration software. If you already have the theoretical background and are looking for a practical guide on how to perform hand-eye calibration with Zivid software, skip to the following tutorials.

Doing

• How to select Zivid Calibration Object

  Outlines the available Zivid Hand-Eye calibration object options and provides advice on choosing and preparing the calibration object for accurate calibration.

• How to run and integrate Zivid Hand-Eye Calibration

  Provides an overview of the Zivid tools and code samples available to perform the calibration and helps to select the best one for your use case.

• How to get Good Dataset for Hand-Eye Calibration

  Explains the process and provides tips to prepare the robot and camera and collect high-quality point clouds and robot pose data to ensure satisfactory hand-eye calibration results.

• Cautions and Recommendations for Hand-Eye Calibration

  Thoroughly covers common pitfalls, best practices, and recommendations to avoid mistakes during calibration and get a satisfactory result.

• How to Verify Hand-Eye Calibration

  Covers and explains available methods for checking that the computed hand-eye transform is accurate and recommends the best verification method.

• How to troubleshoot Hand-Eye Calibration

  Guidance on diagnosing and fixing problems if hand-eye calibration fails or if the results are unsatisfactory.

• How To Use the Result of Hand-Eye Calibration

  Explains how to apply the calculated hand-eye transform in robotics applications by computing a pose for a robot guidance task, e.g., picking an object.

版本历史

SDK	变更
2.16.0	增加了对较小的 Zivid 标定板 ZVDA-CB02 (5x6 20 mm) 的支持。
2.15.0	添加了手眼 GUI。
2.13.0	增加了对 ArUco 标记的支持。
2.6.0	改进了棋盘格检测的鲁棒性 光晕 - 点云中的亮点。
2.4.0	更新了手眼标定的方法以提高准确性，以略微增加旋转残差为代价，使平移残差降低了大约 50%。
2.3.0	提高了棋盘格检测的鲁棒性。
2.2.0	增加了对新的官方 Zivid 标定板系列的支持，其中第一个是 ZVDA-CB01 (7x8 30 mm) 。
2.0.0	手眼 API 已更改，属于"标定"命名空间。
1.6.0	新增了手眼标定API。