Camera-to-Arm-Calibration
所属分类：matlab编程
开发工具：matlab
文件大小：486KB
下载次数：93
上传日期：2016-03-06 22:03:15
上 传 者：
cppcpp
说明： 手眼标定，摄像机和机械臂组合标定，值得学习！
(The hand eye calibration, calibration of camera and manipulator, it is worth learning!)
文件列表:
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b (0, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\CalCamArm.m (11156, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\Camera to Robotic Arm Calibration.pdf (148536, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\Demo.m (813, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\Example Data (0, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\Example Data\Images (0, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\Example Data\Images\image01.jpg (41594, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\Example Data\Images\image02.jpg (36001, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\Example Data\Images\image03.jpg (36121, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\Example Data\Images\image04.jpg (35850, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\Example Data\Images\image05.jpg (34316, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\Example Data\Images\image06.jpg (35188, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\Example Data\Images\image07.jpg (33726, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\Example Data\Images\image08.jpg (31933, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\Example Data\Images\image09.jpg (31854, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\Example Data\Images\image10.jpg (35739, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\Example Data\armMat.mat (1217, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\private (0, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\private\ConvertTformSystem.m (679, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\private\ProjectError.m (2401, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\private\R2V.m (480, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\private\T2V.m (520, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\private\V2R.m (540, 2014-12-10)
ZacharyTaylor-Camera-to-Arm-Calibration-5d80d2b\private\V2T.m (531, 2014-12-10)
Camera-to-Arm-Calibration
=========================
The method operates by finding the parameters that minimize the difference in the position of the checkerboard given by the camera and arm when it is projected into the cameras coordinate system.
The details of how the calibration works are given in Camera to Robotic Arm Calibration.pdf
Calibration guide
=================
1) Download the code
2) Obtain a checkerboard, Matlab can generate one by running
I = checkerboard(200,10,7); I = I(1:size(I,1)/2,1:size(I,2)/2); imsave(imshow(I));
3) Rigidly mount the checkerboard to the robots end effector
4) Move the robotic arm into a new pose where the entire checkerboard can be seen from the camera
5) Capture the camera image and record the arm base to end effector transformation.
6) Repeat steps 4-5 at least 10 times (20+ times is recommended)
7) Run the calibration code
[TBase, TEnd, cameraParams] = CalCamArm(imageFolder, armMat, squareSize)
imageFolder- folder containing images
armMat- matrix holding arm base to end effector transformations
squareSize- width of a square on the chessboard in mm
TBase- 4x4 camera to arm base transformation matrix, distances in m
TEnd- 4x4 arm base to end effector transformation matrix, distances in m
cameraParams- camera parameters object containing distortions and camera matrix
8) The Calibration should be complete. For more details and optional inputs / outputs run
help CalCamArm
Any issues / comments / ideas / etc give me an email at z.taylor@acfr.usyd.edu.au
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