期刊
IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE
卷 38, 期 5, 页码 1027-1033出版社
IEEE COMPUTER SOC
DOI: 10.1109/TPAMI.2015.2469299
关键词
Hand-eye calibration; branch-and-bound algorithm; global optimization
资金
- EC [FP7-SPACE-2012-312377 PRoViDE, FP7-288553 CloPeMa]
- Grant Agency of the CTU Prague [SGS10/277/OHK3/3T/13]
This paper introduces a novel solution to the hand-eye calibration problem. It uses camera measurements directly and, at the same time, requires neither prior knowledge of the external camera calibrations nor a known calibration target. Our algorithm uses branch-and-bound approach to minimize an objective function based on the epipolar constraint. Further, it employs Linear Programming to decide the bounding step of the algorithm. Our technique is able to recover both the unknown rotation and translation simultaneously and the solution is guaranteed to be globally optimal with respect to the L-infinity-norm.
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