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A branch-and-bound algorithm for globally optimal hand-eye calibration

J. Heller, M. Havlena, T. Pajdla
2012 2012 IEEE Conference on Computer Vision and Pattern Recognition  
This paper introduces a novel solution to hand-eye calibration problem.  ...  Our algorithm uses branch-andbound approach to minimize an objective function based on the epipolar constraint. Further, it employs Linear Programming to decide the bounding step of the algorithm.  ...  The Hand-Eye Calibration Algorithm This section sums up the branch and bound algorithm for hand eye calibration into a more comprehensible pseudocode form.  ... 
doi:10.1109/cvpr.2012.6247853 dblp:conf/cvpr/HellerHP12 fatcat:upas2joivbh5bhiymewhqozney

A branch-and-bound algorithm for globally optimal calibration of a camera-and-rotation-sensor system

Yongduek Seo, Young-Ju Choi, Sang Wook Lee
2009 2009 IEEE 12th International Conference on Computer Vision  
We propose a branch-and-bound algorithm to obtain the globally optimal relative rotation between a camera and the rotation sensor attached to it.  ...  We propose a feasibility test algorithm for the branch-and-bound to efficiently reduce the search volume of the rotation domain. Experimental results are provided using synthetic and real data sets.  ...  The branch-and-bound Algorithm To start the branch-and-bound algorithm, we need an initial rotation X * to obtain min . But we can choose any rotation for this initialization.  ... 
doi:10.1109/iccv.2009.5459343 dblp:conf/iccv/SeoCL09 fatcat:hhr2bdtd3fa65bnbipqk3dd7a4

Solving quadratically constrained geometrical problems using lagrangian duality

Carl Olsson, Anders Eriksson
2008 Pattern Recognition (ICPR), Proceedings of the International Conference on  
In recent years methods for finding the global optimum, based on Branch and Bound convex under-estimators, have been developed.  ...  The algorithm was based on relaxing the non-convex problem by convex under-estimators and then using branch and bound to focus in on the global solution [1]. In this paper we adopt a dual approach.  ...  In recent years methods for finding the global optimum, based on Branch and Bound convex under-estimators, have been developed.  ... 
doi:10.1109/icpr.2008.4761896 dblp:conf/icpr/OlssonE08 fatcat:hmpcin5g6vb3tkg2a2qhxz7cba

Globally Optimal Hand-Eye Calibration Using Branch-and-Bound

Jan Heller, Michal Havlena, Tomas Pajdla
2016 IEEE Transactions on Pattern Analysis and Machine Intelligence  
This paper introduces a novel solution to the hand-eye calibration problem.  ...  Our algorithm uses branch-and-bound approach to minimize an objective function based on the epipolar constraint.  ...  Acknowledgment The authors were supported by the EC FP7-SPACE-2012-312377 PRoViDE, by the EC FP7-288553 CloPeMa, and by the Grant Agency of the CTU Prague SGS10/277/OHK3/3T/13 projects.  ... 
doi:10.1109/tpami.2015.2469299 pmid:26353364 fatcat:noeiexivdje7fkrq6srl2v4pfm

Structure-from-motion based hand-eye calibration using L∞ minimization

Jan Heller, Michal Havlena, Akihiro Sugimoto, Tomas Pajdla
2011 CVPR 2011  
This paper presents a novel method for so-called handeye calibration. Using a calibration target is not possible for many applications of hand-eye calibration.  ...  Further, the correctly scaled displacement of the hand-eye transformation is recovered solely from the image correspondences and robot measurements, and is guaranteed to be globally optimal with respect  ...  The authors would also like to thank to Martin Meloun and Ondřej Sychrovský for their help with the real-data experiment.  ... 
doi:10.1109/cvpr.2011.5995629 dblp:conf/cvpr/HellerHSP11 fatcat:zsho4xm2bbgmbd6wnmjpceuduy

Cameras and Inertial/Magnetic Sensor Units Alignment Calibration

Zhi-Qiang Zhang
2016 IEEE Transactions on Instrumentation and Measurement  
A two-step iterative algorithm is then proposed to solve such simplified hand-eye calibration task.  ...  By exploiting the intrinsic restrictions among the coordinate transformations, the rotational alignment calibration problem is formulated by a simplified hand-eye equation AX = XB (A, X and B are all rotation  ...  For instance, Ruland et al. [16] proposed to integrate the hand-eye calibration problem into a branch-and-bound parameter space search.  ... 
doi:10.1109/tim.2016.2518418 fatcat:f4ewznsgdzg2vlzxaowisuawce

A Branch-and-Bound Algorithm for Checkerboard Extraction in Camera-Laser Calibration [article]

Alireza Khosravian, Tat-Jun Chin, Ian Reid
2017 arXiv   pre-print
We propose a branch-and-bound technique that deterministically and globally optimizes the objective.  ...  We address the problem of camera-to-laser-scanner calibration using a checkerboard and multiple image-laser scan pairs.  ...  A BnB method has recently been developed for the hand-eye calibration problem [21] , [22] and demonstrated successful application.  ... 
arXiv:1704.00887v1 fatcat:kfqvloqqu5c6nooak7lc5mfam4

A Study on Long–Close Distance Coordination Control Strategy for Litchi Picking

Hongjun Wang, Yiyan Lin, Xiujin Xu, Zhaoyi Chen, Zihao Wu, Yunchao Tang
2022 Agronomy  
This was an exploratory work that provided a theoretical and technical reference for future research on fruit-picking robots.  ...  fruit-bearing branch locating.  ...  Acknowledgments: The authors would like to thank the anonymous reviewers for their critical comments and suggestions for improving the manuscript.  ... 
doi:10.3390/agronomy12071520 fatcat:b6cq7xxahbap3pf6zbmqjrabbe

A computationally efficient method for hand–eye calibration

Zhiqiang Zhang, Lin Zhang, Guang-Zhong Yang
2017 International Journal of Computer Assisted Radiology and Surgery  
Methods We present a computationally efficient iterative method for hand-eye calibration.  ...  In practice, due to changes in surgical instruments, online hand-eye calibration must be performed regularly.  ...  [24] proposed to integrate the hand-eye calibration problem into a branch-and-bound parameter space search.  ... 
doi:10.1007/s11548-017-1646-x pmid:28726116 pmcid:PMC5608875 fatcat:7hdca6fwcvd2jbsmwukmfoiyha

A branch-and-bound algorithm for checkerboard extraction in camera-laser calibration

Alireza Khosravian, Tat-Jun Chin, Ian Reid
2017 2017 IEEE International Conference on Robotics and Automation (ICRA)  
A branch-and-bound algorithm for checkerboard extraction in camera-laser calibration  ...  A BnB method has recently been developed for the hand-eye calibration problem [21] , [22] and demonstrated successful application.  ...  Branch-and-bound (BnB) is a systematic method for discrete and combinatorial optimization.  ... 
doi:10.1109/icra.2017.7989767 dblp:conf/icra/KhosravianC017 fatcat:zaj4xsfdvna5rgro2cv46mbrp4

Computational light painting and kinetic photography

Yaozhun Huang, Sze-Chun Tsang, Hei-Ting Tamar Wong, Miu-Ling Lam
2018 Proceedings of the Joint Symposium on Computational Aesthetics and Sketch-Based Interfaces and Modeling and Non-Photorealistic Animation and Rendering - Expressive '18  
Figure 1: A gallery of unedited long exposure photographs taken with our computation light painting (Triceratops and Cow models) and kinetic photography (Mermaid and Humpback Whale models) systems.  ...  The primary contributions of this work include: • We calibrate the relative pose of the display and camera based on robotic hand-eye calibration.  ...  Hand-eye calibration, as commonly used in robotic applications like visual servoing, is the technique for determining the relative transformation between a camera and the end-effector of robot where the  ... 
doi:10.1145/3229147.3229167 dblp:conf/npar/HuangTWL18 fatcat:pruasnmrenhsvl77iikfmyyj2i

Stereo Camera Head-Eye Calibration Based on Minimum Variance Approach Using Surface Normal Vectors

Joong-Jae Lee, Mun-Ho Jeong
2018 Sensors  
This paper presents a stereo camera-based head-eye calibration method that aims to find the globally optimal transformation between a robot's head and its eye.  ...  This method is highly intuitive and simple, so it can be used in a vision system for humanoid robots without any complex procedures.  ...  [14] considered hand-eye calibration as the minimization of the -epipolar constraint and deployed the branch-and-bound (BnB) approach to minimize the objective function.  ... 
doi:10.3390/s18113706 fatcat:vozypldntnblplqim6v6r7um54

CFNet: LiDAR-Camera Registration Using Calibration Flow Network [article]

Xudong Lv, Boya Wang, Ziwen Dou, Dong Ye, Shuo Wang
2021 arXiv   pre-print
Most calibration methods rely on hand-crafted features and require significant amounts of extracted features or specific calibration targets.  ...  As an essential procedure of data fusion, LiDAR-camera calibration is critical for autonomous vehicles and robot navigation.  ...  A genetic algorithm (GA) [17] was applied to acquire a globally optimal calibration result.  ... 
arXiv:2104.11907v1 fatcat:zbxotypuebdb3ehpw4hz4ydysy

Fast Pixel/Part Selection with Sparse Eigenvectors

Baback Moghaddam, Yair Weiss, Shai Avidan
2007 2007 IEEE 11th International Conference on Computer Vision  
We extend the "Sparse LDA" algorithm of [7] with new sparsity bounds on 2-class separability and efficient partitioned matrix inverse techniques leading to 1000-fold speed-ups.  ...  Experiments include "sparse eigenfaces" and gender classification on FERET data as well as pixel/part selection for OCR on MNIST data using Bayesian (GP) classification.  ...  Acknowledgments Research conducted at the Jet Propulsion Laboratory, California Institute of Technology, under contract with the National Aeronautics and Space Administration.  ... 
doi:10.1109/iccv.2007.4409093 dblp:conf/iccv/MoghaddamWA07 fatcat:kagyxjpyzzbzfosji3qjjrfoye

A Study of Parts-Based Object Class Detection Using Complete Graphs

Martin Bergtholdt, Jörg Kappes, Stefan Schmidt, Christoph Schnörr
2009 International Journal of Computer Vision  
We investigate learning of this representation from labelled training images and infer globally optimal solutions to the contextual MAP-detection problem, using A * -search with a novel lower-bound as  ...  Along this line of research, we present a practicable and expandable probabilistic framework for parts-based object class representation, enabling the detection of rigid and articulated object classes  ...  We also thank the anonymous reviewers for their detailed and constructiv criticism that helped to improve the original version of the manuscript.  ... 
doi:10.1007/s11263-009-0209-1 fatcat:y5w5rjant5fx5d75x7wej6x2nm
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