OPTIMIZATION OF HAND-TO-CAMERA CALIBRATION USING GEOMETRICAL INTERPRETATION OF MATRIX EQUATION AX = XB

摘要

The paper investigates the hand-to-camera calibration which requires the solution of a set of simultaneous matrix equations in the form AX = XB. This problem is common in cases in which a manipulator moves a camera (or a sensor) to measure the poses of objects. The geometrical interpretation of the equation suggests the best poses from which to collect data for an optimized hand-to-camera calibration to minimize the estimation error. Conditions for optimal poses location are highlighted and a new quality index Q is proposed to represent the quality of the choice. After both a review of the problem using results from the literature and a theoretical introduction, a numerical case is presented to clarify and to validate the methodology.