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This paper introduces a globally optimal algorithm for obtaining the rotational displacement between the coordinate frames of a rotation sensor and a camera that are rigidly attached. Our method minimizes the geometrically meaningful error using a branch-and-bound algorithm to find the global solution. For this, we derive a bounding inequality and...
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Citations
... Yongmoon presents a globally optimal algorithm for determining the rotational offsets between the rigidly coupled rotation sensor and the camera coordinate system. It uses a branch-and-bound algorithm to find global solutions that minimize errors in the geometric sense and demonstrates the effectiveness of the algorithm through experiments on synthetic and real data sets [3]. Amir et al. proposed a branching and constraint control algorithm inspired by decoding boxes to control current amplified converters. ...
Phase-control technology, which is also called simultaneous interconnection technology, is one of the latest developments in intelligent interconnection. With the subsequent development of the short-circuit system, which increased significantly, the switching capacity of the switch is tested. Applying arc power to the contact holes during a short circuit also causes extensive damage to the switch contacts, which severely affects the operation and life of the switch. To solve this problem, this paper introduces the branch definition algorithm, describes different types of faults occurring in power systems, proposes a general scheme for fault current phase-controlled breaking, derives a fault occurrence detection method and a phase control method, and performs a simulation analysis of the proposed branch definition algorithm; a single-phase short-circuit current model is built; and the algorithm is tested using simulation data. The oscilloscope acquisition data were simulated and analyzed to obtain the characteristic parameters of the waveform, and the online simulation results obtained were analyzed with the oscilloscope data. The experimental results show that the system designed in this paper can accurately predict the zero value, and the zero values obtained from four experiments conducted are 34.52 ms, 34.46 ms, 29.9 ms, and 29.84 ms, respectively.
... For the problem of solving equations, many people have proposed different mathematical methods. Zhang [7] proposed a method of redistributing the corresponding weights according to the measurement data error; Heller [8] and Li [9] proposed a global optimization method; Chou [10] proposed a quaternion-based singular value decomposition method; Hu [11] proposed a nonlinear optimization method for simultaneous camera and hand-eye relationship calibration; Chen [12] and Wang [13] respectively proposed using Kalman filter realizes the recursive estimation of translation vector and the robot hand-eye calibration method based on unscented Kalman filter; Park [14] proposed a global optimization method based on branch and bound method based on the angle projection error as the optimization model. In order to establish a homogeneous equation, the above methods need to move the manipulator many times, resulting in the final hand-eye calibration result being affected by the positioning error and return error of the industrial robot. ...
Aiming at the problem of low accuracy of industrial robot hand-eye calibration, a robot hand-eye calibration method based on an intermediate measurement system is proposed. The checkerboard calibration board with the marker points pasted is photographed by the camera, and the coordinates of the marker points in the checkerboard calibration board coordinate system are calculated according to the principle of cross-ratio invariance, and the coordinate system matrix between the C-Track optical dynamic tracking system and the industrial robot is established. The transformation relationship finally obtains the closed-loop coordinate system matrix transformation equation with the marker point, the checkerboard calibration board and the C-Track optical dynamic tracking system as the intermediate measurement system, thereby avoiding the introduction of the mobile industrial robot manipulator in the traditional hand-eye calibration process Kinematic error. The experimental results show that the translation error in the hand-eye relationship matrix is 0.6 mm, and the rotation error is 0.3°. Compared with the traditional hand-eye calibration method, this method improves the accuracy of hand-eye calibration, simplifies the hand-eye calibration process, and meets the needs of actual processing and production.
... Since SFM can recover camera poses up to scale, the formulation introduced an explicit scaling factor to the robot-sensor calibration equation. Some similar methods were presented in [10,11], where a scaling factor was included into branch and bound traversal and angular reprojection error formulation [12]. ...
... Where K is assumed to be quadratic cones such as equation (11) and equation (12), and x i denote a variable quantity of unknown paramete x. Moreover, we assume that coefficient matrix F i ∈R m×n , g i ∈R m and c∈R n have conforming dimensions. ...
In order to overcome the restrictions of traditional robot-sensor calibration method which solve the tool-camera transformation and robot-world transformation rely on calibration target, a calibration-free approach that solve the robot-sensor calibration problem of the form AX = YB based on Second-Order Cone Programming is proposed. First, a Structure-From-Motion approach was used to recover the camera motion matrix up to scaling. Then rotation and translation matrix in calibration equation were parameterized by dual quaternion theory. Finally, the Second-Order Cone Programming method was used to simultaneously solve the optimal solution of camera motion matrix scale factor, the robot-world and hand-eye relation. The experimental results indicate that the calibration precision of rotation relative error is 3.998% and the translation relative error is 0.117% in defect of calibration target as 3D benchmark. Compared with similar methods, the proposed method can effectively improve the calibration accuracy of the robot-world and hand-eye relation, and extend the application field of robot-sensor calibration method.
