Abstract
This paper presents a simple and universal approach to calibrate all RGB-D based vision system mounted in eye-in hand configuration on a robotic arm. In literature, many approaches have been proposed for the calibration procedure of general vision systems. These methods are designed to estimate extrinsic and intrinsic parameters of the camera. They are comprehensive, but their robustness comes with a huge computational effort required. The proposed calibration algorithm has been conceived specifically for an RGB-D sensor, a system combining a standard RGB camera and a depth camera. The algorithm makes use of a calibration target with known pose to evaluate the mounting parameters which define the pose of the vision system with respect to the link of the robot on which it mounted. The proposed procedure has been developed for a custom mobile manipulator conceived for assistive indoor applications, but it can be applied in other cases too. The algorithm has been tested and the results, obtained with the calibration procedure, has been proved to be comparable with the acquisitions made using just the RGB-D system.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Schepers, D.B., et al.: Service robot implementation: a theoretical framework and research agenda. In: The Service Industries Journal, vol. 40, n. 3–4, pp. 203–225 (2020)
Yang, M., et al.: Collaborative mobile industrial manipulator: a review of system architecture and applications. In: 2019 25th International Conference on Automation and Computing (ICAC) (2019)
Rehman, B.U., et al.: Towardsa multi-legged mobile manipulator. In: 2016 IEEE International Conference on Robotics and Automation (ICRA) (2016)
Röhring, C. D. H., et al.: Motion controller design for a mecanum wheeled mobile manipulator. In: IEEE Conference on Control Technology and Applicationd (CCTA) (2017)
Adirwahono, A.H., et al.: Automated door opening scheme for non-holonomic mobile manipulator. In: 2013 13th International Conference on Control, Automation and Systems (ICAS 2013) (2013)
Doelling, K.J.S., et al.: Service robotics for the home: a state of the art review. In: Proceedings of the 7th International Conference on Pervasive Technologies Related to Assistive Environments (2014)
Riafio, D.: Object detenction methods for robot grasping: experimental assessment and tuning. In: Artificial Intelligence Research and Developement: Proceedings of the 15th International Conference of the Catalan Association for Artificial Intelligence (2012)
Haque Akkas Uddin, A.N.: Obstacle avoidance using stereo camera. In: arXiv e-prints (2017): arXiv-1705 (2017)
Chen, Y.F., et al.: Socially aware motion planning with deep reinforcement learning. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (2017)
Kim, J., et al.: Moving obstacle avoidance of a mobile robot using a single camera. In: Procedia Engineering, vol. 41, pp. 911–916 (2012)
OhyaI., A.K., et al.: Vision-based navigation by a mobile robot with obstacle avoidance using single-camera vision and ultrasonic sensing. In: IEEE Transactions on Robotics and Automation, vol. 14, n. 6, pp. 969–978 (1998)
Jung, B., et al.: Detecting moving objects using a single camera on a mobile robot in an outdoor. In: International Conference on Intelligent Autonomous Systems (2004)
Campbell, S., et al.: Sensor technology in autonomous vehicles : a review. In: 2018 29th Irish Signals and Systems Conference (ISSC), Vol. 1 di 2-, n. -, pp. 1–4 (2018)
Breitbarth, A., et al.: Measurement accuracy and practical assessment of the lidar camera Intel RealSense L515. In: Optical Measurement Systems for Industrial Inspection XII, vol. 11782, p. 1178213 (2021)
Lourenço, F., et al.: Intel RealSense SR305, D415 and L515: experimental evaluation and comparison of depth estimation. In: VISIGRAPP (4: VISAPP), pp. 362--369 (2021)
Zennaro, S., et al.: 2015 IEEE International Conference on Multimedia and Expo (ICME). In: Performance evaluation of the 1st and 2nd generation Kinect for multimedia applications, pp. 1–6 (2015)
Mejia-Trujillo, J.D., et al.: Kinect™ and Intel RealSense™ D435 comparison: a preliminary study for motion analysis. In: IEEE International Conference on E-health Networking, Application & Services (HealthCom) (2019)
Lourenço, F., et al.: Intel RealSense SR305, D415 and L515: Experimental evaluation and comparison of depth estimation. In: VISIGRAPP (2021)
Breithbarth, A.C.H., et al.: Measurement accuracy and practical assessment of the lidar camera Intel RealSense L515. In Optical Measurement Systems for Industrial Inspection XII (2021)
Tetsuyou Watanabe, K.Y., et al.: Survey of robotic manipulation studies intending practical applications in real environments -object recognition, soft robot hand, and challenge program and benchmarking. In: Advanced Robotics, vol. 31, n. 19–20, pp. 1114–1132 (2017)
Kehoe, A., et al.: Cloud-based robot grasping with the google object recognition engine. In: 2013 IEEE International Conference on Robotics and Automation, Vol. 1 di 2-, n. -, pp. 4263–4270 (2013)
Lippiello, V., et al.: Eye-in-hand/eye-to-hand multi-camera visual servoing. In: Proceedings of the 44th IEEE Conference on Decision and Control (2005)
Shiu, H.Z., et al.: A noise-tolerant algorithm for robotic hand-eye calibration with or without sensor orientation measurement. In: IEEE Transactions on Systems, Man, and Cybernetics, vol. 23, n. 4, pp. 1168–1175 (1993)
Pachtrachai, M., et al.: Hand-eye calibration for robotic assisted minimally invasive surgery without a calibration object. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2485–2491 (2016)
Temesguen Messay, R., et al.: Computationally efficient and robust kinematic calibration methodologies and their application to industrial robots. In: Robotics and Computer-Integrated Manufacturing, Vol. 1 di 237,, pp. 33–48 (2016)
Palmieri, M., et al.: Vision-based kinematic calibration of a small-scale spherical parallel kinematic machine. In: Robotics and Computer-Integrated Manufacturing, vol. 49, pp. 162–169 (2018)
Barreto, A.M., et al.: Robust hand-eye calibration for computer aided medical endoscopy. In: 2010 IEEE International Conference on Robotics and Automation, Anchorage, Alaska, USA (2010)
Lenz, R.Y.T., et al.: A new technique for fully autonomus and efficient 3D robotics hand/eye calibration. In: IEEE Transaction on Robotics and Automation, vol. 5, n. 3, pp. 345–358 (1989)
Carbonari, L., Tagliavini, L., Botta, A., Cavallone, P., Quaglia, G.: Preliminary observations for functional design of a mobile robotic manipulator. In: Zeghloul, S., Laribi, M.A., Sandoval, J. (eds.) RAAD 2021. MMS, vol. 102, pp. 39–46. Springer, Cham (2021). https://doi.org/10.1007/978-3-030-75259-0_5
Tagliavini, L., et al.: On the suspension design of paquitop, a novel service robot for home assistance applications. In: Machines, vol. 9, n. 3, pp. 52–66 (2021)
Colucci, G., et al.: Paquitop.arm, a mobile manipulator for assessing emerging challenges in the COVID-19 pandemic scenario. In: Robotics, vol. 10, n. 3, pp. 102–114 (2021)
Zhang, Z.: Camera Parameters (Intrinsic, Extrinsic). In: Computer Vision: A Reference Guide, Boston, MA: Springer US, 2014, pp. 81–85
Romero-Ramirez, J., et al.: Speeded up detection of squared fiducial markers. In: Image and Vision Computing, vol 76, pp. 38–47 (2018)
Garrido-Jurado, S., et al.: Generation of fiducial marker dictionaries using mixed integer linear programming. In: Pattern Recognition vol 51, pp. 481–491 (2016)
Broyden, C.G.: The convergence of a class of double-rank minimization algorithms. In: Journal Inst. Math. Applic, vol. 6, pp. 76–90 (1970)
Coleman, T.F., et al.: An interior, trust region approach for nonlinear minimization subject to bounds. In: SIAM Journal on Optimization, vol. 6, pp. 418–445 (1996)
Coleman, T.F., et al.: On the convergence of reflective newton methods for large-scale nonlinear minimization subject to bounds. In: Mathematical Programming, vol. 67, n. 2, pp. 189–224 (1994)
Davidon, W.C.: Variable metric method for minimization. In: A.E.C. Research and Development Report (1959)
Fletcher, R.: A new approach to variable metric algorithms. In: Computer Journal, vol. 13, pp. 317–322 (1970)
Fletcher, R.: Practical methods of optimization. In: Unconstrained Optimization, John Wiley and Sons (1980)
Fletcher, R., et al.: A rapidly convergent descent method for minimization. In: Computer Journal, vol. 6, pp. 163–168 (1963)
Goldfarb, D.: A family of variable metric updates derived by variational means. In: Mathematics of Computing, vol. 24, pp. 23–26 (1970)
Shanno, D.F.: Conditioning of quasi-newton methods for function minimization. In: Mathematics of Computing, vol. 24, p. 647–656 (1970)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Baglieri, L., Tagliavini, L., Colucci, G., Botta, A., Cavallone, P., Quaglia, G. (2022). Simple Kinematic Calibration Approach for Eye-In-Hand Depth-Camera. In: Niola, V., Gasparetto, A., Quaglia, G., Carbone, G. (eds) Advances in Italian Mechanism Science. IFToMM Italy 2022. Mechanisms and Machine Science, vol 122. Springer, Cham. https://doi.org/10.1007/978-3-031-10776-4_89
Download citation
DOI: https://doi.org/10.1007/978-3-031-10776-4_89
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-10775-7
Online ISBN: 978-3-031-10776-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)