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Calibration-Free Hand-Eye Calibration: A Structure-From-Motion Approach (2005)
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BibTeX
@MISC{Schmidt05calibration-freehand-eye,
author = {Jochen Schmidt and Florian Vogt and Heinrich Niemann},
title = {Calibration-Free Hand-Eye Calibration: A Structure-From-Motion Approach},
year = {2005}
}
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Abstract
The paper presents an extended hand-eye calibration approach that, in contrast to the standard method, does not require a calibration pattern for determining camera position and orientation. Instead, a structure-from-motion algorithm is applied for obtaining the eye-data that is necessary for computing the unknown hand-eye transformation. Different ways of extending the standard algorithm are presented, which mainly involves the estimation of a scale factor in addition to rotation and translation. The proposed methods are experimentally compared using data obtained from an optical tracking system that determines the pose of an endoscopic camera. The approach is of special interest in our clinical setup, as the usage of an unsterile calibration pattern is difficult in a sterile environment.
Keyphrases
structure-from-motion approach calibration-free hand-eye calibration sterile environment different way optical tracking system standard algorithm calibration pattern unknown hand-eye transformation extended hand-eye calibration approach standard method special interest clinical setup endoscopic camera scale factor unsterile calibration pattern camera position structure-from-motion algorithm
