[max_tro]

We mounted anintel真正意义上d435机器人。
We have seen RoboDK videos where stereo cameras and laser trackers are used to calibrate the robot.
We found lots of papers related to hand-eye calibration and rgb-d cameras.

However we struggle to implement a simple algorithm for hand-eye calibration:
We suggest something like:
1) Mark N (how many needed?) calibration-targets within the robots work area
2) Approach calibration-targets with robot and store as targets in RoboDK
3) Find pose, that has all calibration-targets in camera-view
4) Receive coordinates (x,y,z) for each calibration-target from camera (in camera-TCP)
5) [optional?] repeat 3-4 with different poses
6) Calculate calibration

Alternative for 1 (or 1&2 ?): use check-pattern board

We lack the math-skills for 6). Can someone point us towards a paper or some formulas how to calculate the camera-tcp?

[Albert]

This link explains Hand-Eye Camera calibration for a robot and links to source code samples and papers:
https://robotics.stackexchange.com/quest...es#tab-top

In general, I would say more targets is better as you'll reduce the measurement noise. Keep in mind that the 3DIntelcamera is not accurate unless you are very close to the target. Using a pattern of objects may help you improve accuracy as well.

[max_tro]

Thanks for the quick reply. We are looking into it.

[spacegardener]

We mounted anintel真正意义上d435机器人。
We have seen RoboDK videos where stereo cameras and laser trackers are used to calibrate the robot.
We found lots of papers related to hand-eye calibration and rgb-d cameras.

However we struggle to implement a simple algorithm for hand-eye calibration:
We suggest something like:
1) Mark N (how many needed?) calibration-targets within the robots work area
2) Approach calibration-targets with robot and store as targets in RoboDK
3) Find pose, that has all calibration-targets in camera-view
4) Receive coordinates (x,y,z) for each calibration-target from camera (in camera-TCP)
5) [optional?] repeat 3-4 with different poses
6) Calculate calibration

Alternative for 1 (or 1&2 ?): use check-pattern board

We lack the math-skills for 6). Can someone point us towards a paper or some formulas how to calculate the camera-tcp?

did you ever get something like this working?

[max_tro]

did you ever get something like this working?

Yes. A good starting point isopenCV's functionality.

[jsm890803]

Hi, could I ask you about the calibration result?
I'm also usingIntelRealSense, but the hand-eye calibration has bad result.
How much is your translation and rotation error after calibration?

[Sam]

如果有人我s looking for a way to programmatically determine the camera pose in RoboDK, we added an example of camera pose estimation using OpenCV and ChAruCo board in our Python examples, see//www.sinclairbody.com/doc/en/PythonAPI/exam...amera-pose.