Laser-Tracker-Assisted Camera-to-Robot Calibration for Mobile Robots

Abstract:We present a laser-tracker-assisted hand-eye calibration method for camera-equipped mobile robots. The method combines laser-tracker-based 3D metrology with camera-based 2D observations. Building on our previous laser-tracker-assisted camera-to-robot calibration method for ground-observing mobile robots, we present a generalized formulation for calibrating the camera pose in the coordinate system of tracker-localized mobile robots. The new approach relaxes assumptions of our previous method on robot and camera configuration by chaining multiple calibration targets resulting in a more general approach supporting various camera-equipped mobile robot systems.

Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV)

arXiv:2609.27006 [cs.RO]

(or arXiv:2609.27006v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.27006 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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