Improved Calibration of Eye-in-Hand Robotic Vision System Based on Binocular Sensor
Eye-in-hand robotic binocular sensor systems are indispensable equipment in the modern manufacturing industry. However, because of the intrinsic deficiencies of the binocular sensor, such as the circle of confusion and observed error, the accuracy of the calibration matrix between the binocular sens...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-10-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/23/20/8604 |
| _version_ | 1797572247273078784 |
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| author | Binchao Yu Wei Liu Yi Yue |
| author_facet | Binchao Yu Wei Liu Yi Yue |
| author_sort | Binchao Yu |
| collection | DOAJ |
| description | Eye-in-hand robotic binocular sensor systems are indispensable equipment in the modern manufacturing industry. However, because of the intrinsic deficiencies of the binocular sensor, such as the circle of confusion and observed error, the accuracy of the calibration matrix between the binocular sensor and the robot end is likely to decline. These deficiencies cause low accuracy of the matrix calibrated by the traditional method. In order to address this, an improved calibration method for the eye-in-hand robotic vision system based on the binocular sensor is proposed. First, to improve the accuracy of data used for solving the calibration matrix, a circle of confusion rectification method is proposed, which rectifies the position of the pixel in images in order to make the detected geometric feature close to the real situation. Subsequently, a transformation error correction method with the strong geometric constraint of a standard multi-target reference calibrator is developed, which introduces the observed error to the calibration matrix updating model. Finally, the effectiveness of the proposed method is validated by a series of experiments. The results show that the distance error is reduced to 0.080 mm from 0.192 mm compared with the traditional calibration method. Moreover, the measurement accuracy of local reference points with updated calibration results from the field is superior to 0.056 mm. |
| first_indexed | 2024-03-10T20:53:33Z |
| format | Article |
| id | doaj.art-433e10e2715c48d0a8bcb389fd49c11e |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T20:53:33Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-433e10e2715c48d0a8bcb389fd49c11e2023-11-19T18:05:26ZengMDPI AGSensors1424-82202023-10-012320860410.3390/s23208604Improved Calibration of Eye-in-Hand Robotic Vision System Based on Binocular SensorBinchao Yu0Wei Liu1Yi Yue2Key Laboratory for Precision and Non-Traditional Machining Technology of the Ministry of Education, Dalian University of Technology, Dalian 116024, ChinaKey Laboratory for Precision and Non-Traditional Machining Technology of the Ministry of Education, Dalian University of Technology, Dalian 116024, ChinaBeijing Spacecrafts, China Academy of Space Technology, Beijing 100094, ChinaEye-in-hand robotic binocular sensor systems are indispensable equipment in the modern manufacturing industry. However, because of the intrinsic deficiencies of the binocular sensor, such as the circle of confusion and observed error, the accuracy of the calibration matrix between the binocular sensor and the robot end is likely to decline. These deficiencies cause low accuracy of the matrix calibrated by the traditional method. In order to address this, an improved calibration method for the eye-in-hand robotic vision system based on the binocular sensor is proposed. First, to improve the accuracy of data used for solving the calibration matrix, a circle of confusion rectification method is proposed, which rectifies the position of the pixel in images in order to make the detected geometric feature close to the real situation. Subsequently, a transformation error correction method with the strong geometric constraint of a standard multi-target reference calibrator is developed, which introduces the observed error to the calibration matrix updating model. Finally, the effectiveness of the proposed method is validated by a series of experiments. The results show that the distance error is reduced to 0.080 mm from 0.192 mm compared with the traditional calibration method. Moreover, the measurement accuracy of local reference points with updated calibration results from the field is superior to 0.056 mm.https://www.mdpi.com/1424-8220/23/20/8604binocular sensoreye-in-hand robotic vision systemcircle of confusionobserved error |
| spellingShingle | Binchao Yu Wei Liu Yi Yue Improved Calibration of Eye-in-Hand Robotic Vision System Based on Binocular Sensor Sensors binocular sensor eye-in-hand robotic vision system circle of confusion observed error |
| title | Improved Calibration of Eye-in-Hand Robotic Vision System Based on Binocular Sensor |
| title_full | Improved Calibration of Eye-in-Hand Robotic Vision System Based on Binocular Sensor |
| title_fullStr | Improved Calibration of Eye-in-Hand Robotic Vision System Based on Binocular Sensor |
| title_full_unstemmed | Improved Calibration of Eye-in-Hand Robotic Vision System Based on Binocular Sensor |
| title_short | Improved Calibration of Eye-in-Hand Robotic Vision System Based on Binocular Sensor |
| title_sort | improved calibration of eye in hand robotic vision system based on binocular sensor |
| topic | binocular sensor eye-in-hand robotic vision system circle of confusion observed error |
| url | https://www.mdpi.com/1424-8220/23/20/8604 |
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