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A New Hand-eye Calibration Technique to Compensate for the Lens Distortion Effect  

Chung, Hoi-Bum (Sunchon National University)
Publication Information
Journal of the Korean Society for Precision Engineering / v.19, no.1, 2002 , pp. 172-179 More about this Journal
Abstract
In a robot/vision system, the vision sensor, typically a CCD array sensor, is mounted on the robot hand. The problem of determining the relationship between the camera frame and the robot hand frame is refered to as the hand-eye calibration. In the literature, various methods have been suggested to calibrate camera and for sensor registration. Recently, one-step approach which combines camera calibration and sensor registration is suggested by Horaud & Dornaika. In this approach, camera extrinsic parameters are not need to be determined at all configurations of robot. In this paper, by modifying the camera model and including the lens distortion effect in the perspective transformation matrix, a new one-step approach is proposed in the hand-eye calibration.
Keywords
Calibartion; Sensor registration; Perspective transformation; Lens distortion; Image acquisition;
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