Method for calibrating hand/eye using projective invariant shape descriptor for 2-dimensional shape

摘要

The invention Hand / Eye relates to a calibration method, said calibration method comprising: (a) at least two acquired at predetermined time intervals by a camera attached to a robot hand or more using those projected light modified representation of the two-dimensional shape obtaining characters projected light modified representation of the two-dimensional shape from the image; (B) extracting a corresponding point between the character image using the projection transformation represented fire; (C) calculating a rotation matrix for the corresponding points from the translational motion of said robot hand; And (d) from the rotational and translational motion of the robot hand to obtain a translation vector for the corresponding points; And (e) a step of identifying the relation between the (c) and the (d) on the basis of the rotation matrix and the translation vector calculated in the step of the robot hand with the camera.