コニックパターンを用いたハンドアイシステムのキャリブレーション

抄録

Calibration is most important to manipulate an object correctly by hand-eye system. In this paper, we propose a method of hand-eye system calibration by using conic pattern, when the cameras are fixed at environment. Hand-eye calibration is implemented by measuring a center of gravity of the conic pattern on a hand of a manipulator by using calibrated stereo vision. Finally, we analyze the error of the calibration.