This paper describes a camera and hand-eyeudcalibration methodology for integrating an active binocularudrobot head within a dual-arm robot. For this purpose, weudderive the forward kinematic model of our active robot headudand describe our methodology for calibrating and integratingudour robot head. This rigid calibration provides a closedformudhand-to-eye solution. We then present an approach forudupdating dynamically camera external parameters for optimalud3D reconstruction that are the foundation for robotic tasks suchudas grasping and manipulating rigid and deformable objects. Weudshow from experimental results that our robot head achievesudan overall sub millimetre accuracy of less than 0.3 millimetresudwhile recovering the 3D structure of a scene. In addition, weudreport a comparative study between current RGBD camerasudand our active stereo head within two dual-arm robotic testbedsudthat demonstrates the accuracy and portability of our proposedudmethodology.
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