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. In such situations Structure-from-Motion approach of hand-eye calibration is commonly used to recover the camera poses up to scaling. The presented method takes advantage of recent results in the L ∞ -norm optimization using Second-Order Cone Programming (SOCP) to recover the correct scale. Further, the correctly scaled displacement of
more » ... e hand-eye transformation is recovered solely from the image correspondences and robot measurements, and is guaranteed to be globally optimal with respect to the L ∞ -norm. The method is experimentally validated using both synthetic and real world datasets.
doi:10.1109/cvpr.2011.5995629 dblp:conf/cvpr/HellerHSP11 fatcat:zsho4xm2bbgmbd6wnmjpceuduy