Spatiotemporal Calibration for Laser Vision Sensor in Hand-eye System Based on Straight-line Constraint
Laser vision sensors (LVS) are critical perception modules for industrial robots, facilitating real-time acquisition of workpiece geometric data in welding applications. However, the camera communication delay will lead to a temporal desynchronization between captured images and the robot motions. Additionally, hand-eye extrinsic parameters may vary during prolonged measurement. To address these issues, we introduce a measurement model of LVS considering the effect of the camera's time-offset and propose a teaching-free spatiotemporal calibration method utilizing line constraints. This method involves a robot equipped with an LVS repeatedly scanning straight-line fillet welds using S-shaped trajectories. Regardless of the robot's orientation changes, all measured welding positions are constrained to a straight-line, represented by Plucker coordinates. Moreover, a nonlinear optimization model based on straight-line constraints is established. Subsequently, the Levenberg-Marquardt algorithm (LMA) is employed to optimize parameters, including time-offset, hand-eye extrinsic parameters, and straight-line parameters. The feasibility and accuracy of the proposed approach are quantitatively validated through experiments on curved weld scanning. We open-sourced the code, dataset, and simulation report at https://anonymous.4open.science/r/LVS_ST_CALIB-015F/README.md.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
L2E: Lasers to Events for 6-DoF Extrinsic Calibration of Lidars and Event Cameras
As neuromorphic technology is maturing, its application to robotics and autonomous vehicle systems has become an area of active research. In particular, event cameras have emerged as a compelling alternative to frame-bas…
Autonomous DrivingCamera CalibrationMultisensor fusion-based digital twin in additive manufacturing for in-situ quality monitoring and defect correction
Early detection and correction of defects are critical in additive manufacturing (AM) to avoid build failures. In this paper, we present a multisensor fusion-based digital twin for in-situ quality monitoring and defect c…
A Novel Camera-to-Robot Calibration Method for Vision-Based Floor Measurements
A novel hand-eye calibration method for ground-observing mobile robots is proposed. While cameras on mobile robots are common, they are rarely used for ground-observing measurement tasks. Laser trackers are increasingly …
Automatic Extrinsic Calibration for Lidar-Stereo Vehicle Sensor Setups
Sensor setups consisting of a combination of 3D range scanner lasers and stereo vision systems are becoming a popular choice for on-board perception systems in vehicles; however, the combined use of both sources of infor…
Spatiotemporal Camera-LiDAR Calibration: A Targetless and Structureless Approach
The demand for multimodal sensing systems for robotics is growing due to the increase in robustness, reliability and accuracy offered by these systems. These systems also need to be spatially and temporally co-registered…