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arXiv · 2211.06881

Automatic Eye-in-Hand Calibration using EKF

Aditya Ramakrishnan·Chinmay Garg·Haoyang He·Shravan Kumar Gulvadi·Sandeep Keshavegowda
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Abstract

In this paper, a self-calibration approach for eye-in-hand robots using SLAM is considered. The goal is to calibrate the positioning of a robotic arm, with a camera mounted on the end-effector automatically using a SLAM-based method like Extended Kalman Filter (EKF). Given the camera intrinsic parameters and a set of feature markers in a work-space, the camera extrinsic parameters are approximated. An EKF based measurement model is deployed to effectively localize the camera and compute the camera to end-effector transformation. The proposed approach is tested on a UR5 manipulator with a depth-camera mounted on the end-effector to validate our results.

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Aditya Ramakrishnan, Chinmay Garg, Haoyang He, Shravan Kumar Gulvadi, Sandeep Keshavegowda. 2022-11-13. Automatic Eye-in-Hand Calibration using EKF. https://arxiv.org/abs/2211.06881

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