A self-calibration approach to hand-eye relation using a single point

This paper describes a self-calibration approach to hand-eye relation using a single point in the scene. Camera is required to observe one point in the scene at five (or more) pure translational motions and two (or more) pure rotational motions of manipulator. The motions of manipulator are accurately controlled and read, and the motions of camera are estimated from the disparity and the depth value of the point. Thus, constraint equations are set up between the manipulator and the camera coordination. The intrinsic parameters of camera and hand-eye relation are solved linearly. It is characteristic by conveniently controlling motions of manipulator and succinct implement of algorithm due to the utility of a single point in the scene, requiring neither matching, nor orthogonal motions. Results of experiments on computer-generated and real image data show that the proposed method is effective and feasible.