CN111710002A - Camera external parameter calibration method based on Optitrack system - Google Patents
Camera external parameter calibration method based on Optitrack system Download PDFInfo
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- G06—COMPUTING; CALCULATING OR COUNTING
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- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention belongs to the technical field of computer vision, and particularly discloses a camera external reference calibration method based on an Optitrack system. The method comprises the following steps: constructing an Optitrack system, installing a calibration plate at the tail end of the robot, arranging a plurality of calibration balls on the calibration plate, and acquiring the pose of the coordinate system of the Optitrack system under the robot base coordinate system; installing a hand-eye camera at the tail end of the robot, and acquiring the pose of the calibration spherical coordinate system under an Optitrack system coordinate system, thereby acquiring the pose of the calibration plate under a robot base coordinate system, and acquiring the poses of the hand-eye camera internal reference and the calibration plate under a hand-eye camera coordinate system; and the pose of the hand-eye camera coordinate system in the robot terminal coordinate system is obtained, and the camera external reference calibration is completed. The invention can efficiently and accurately calibrate the position and the posture of the board under the robot base coordinate system so as to acquire the accurate position and the posture of the camera relative to the tail end of the robot.
Description
Technical Field
The invention belongs to the technical field of computer vision, and particularly relates to a camera external reference calibration method based on an Optitrack system.
Background
The camera plays an important role in the technical field of computer vision, and the internal parameters and the external parameters of the camera are inevitably required to be calibrated when the camera is used in the technical fields of vision recognition, navigation, obstacle avoidance, vision servo and the like. The internal reference of the camera refers to the relationship between a pixel coordinate system and a camera coordinate system, and comprises a focal length, the length and the width of a unit pixel corresponding to a physical world, principal point coordinates and a distortion coefficient. The external parameters of the camera refer to: relative position and posture between the camera coordinate system and the external coordinate system. The internal reference of the camera can be individually calibrated by a Zhangyingyou calibration method and the like.
For the case where the camera is mounted at the upper end of the robot, the external reference refers to the position and attitude of the camera coordinate system with respect to the robot end coordinate system. The external parameters are generally designed when the structure of the robot is designed, but the position and the posture of the camera relative to the robot deviate from the design values due to factors such as production, processing and installation. The direct use of the design values is likely to cause serious errors. The position and the posture of the calibration plate under a world coordinate system are difficult to efficiently and accurately obtain by the common calibration method.
Based on the above defects and shortcomings, there is a need in the art to further improve and design the existing camera external reference calibration method, so as to efficiently and accurately calibrate the position and posture of the board under the robot base coordinate system, so as to obtain the accurate position and posture of the camera relative to the end of the robot.
Disclosure of Invention
In view of the above defects or improvement requirements of the prior art, the invention provides a camera external reference calibration method based on an Optitrack system, wherein the characteristics of the Optitrack system and the process characteristics of the relationship between the camera coordinate system and the terminal coordinate system of the robot in position are combined, the calculation of the hand-eye camera external reference is associated with the Optitrack system by correspondingly constructing the Optitrack system and matching calibration balls, calibration plates and the like with calibration functions, so that the position posture of the plates under the base coordinate system of the robot can be efficiently and accurately calibrated, and the accurate position posture of the camera relative to the terminal of the robot can be obtained. The invention has simple and convenient calculation and high precision, and can effectively overcome the deviation of the position and the posture of the camera relative to the robot and the design value caused by factors such as production, processing, installation and the like.
In order to achieve the purpose, the invention provides a camera external reference calibration method based on an Optitrack system, which comprises the following steps:
s1, constructing an Optitrack system, wherein the Optitrack system comprises a camera group consisting of a plurality of cameras and a plurality of calibration balls, and calibrating the calibration balls in the Optitrack system to generate an Optitrack system coordinate system;
s2, a calibration plate is arranged at the tail end of the robot, a plurality of calibration balls are arranged on the calibration plate, a calibration ball coordinate system is constructed, and the pose of the Optitrack system coordinate system under the robot base coordinate system is obtained through the kinematic relationship of the robot and the pose of the calibration plate in the calibration ball coordinate system
S3, installing a hand-eye camera at the tail end of the robot, placing the calibration plate with the calibration balls in the step S2 at any position in the visual field range of the hand-eye camera, and acquiring the pose of the calibration ball coordinate system under the Optitrack system coordinate system through the Optitrack system
Thereby obtaining the pose of the calibration plate under the robot base coordinate system
S4 obtaining the poses of the hand-eye camera internal reference and calibration plate in the hand-eye camera coordinate system
S5 pose in robot base coordinate system according to robot end coordinate system
Position and pose of calibration plate in hand-eye camera coordinate system
And the calibration plate is in the robot base coordinate systemPosition and posture of
And acquiring the pose of the hand-eye camera coordinate system in the robot tail end coordinate system to finish the camera external reference calibration.
Further preferably, the Optitrack system comprises 6-8 cameras which are arranged in a non-collinear way.
More preferably, step S2 specifically includes the following steps:
s21, mounting a calibration plate at the tail end of the robot to enable the robot to be in an initial posture;
s22, mounting a plurality of calibration balls on the calibration plate, and constructing a calibration ball coordinate system so as to obtain the pose of the calibration plate under the calibration ball coordinate system
S23 obtaining the pose of the robot end coordinate system in the robot base coordinate system through the robot kinematics relation
S24 calibrating installation relation between plate and robot end, and position and pose of the plate in calibrating spherical coordinate system
And the pose of the robot end coordinate system in the robot base coordinate system
Acquiring the pose of the Optitrack system coordinate system under the robot base coordinate system
More preferably, step S3 specifically includes the following steps:
s31, taking down the calibration board with the calibration balls in the step S2, installing the hand-eye camera at the tail end of the robot, and enabling the calibration board with the calibration balls to be located at any position in the visual field range of the hand-eye camera;
s32, acquiring the pose of the calibration spherical coordinate system under the Optitrack system coordinate system through the Optitrack system
S33 pose under the robot base coordinate system according to the Optitrack system coordinate system
Pose of calibration plate under calibration spherical coordinate system
And calibrating the pose of the spherical coordinate system under the coordinate system of the Optitrack system
Obtaining the pose of the calibration plate under the robot base coordinate system
As a further preferred, the pose of the calibration plate is under the robot base coordinate system
The calculation model of (a) is:
wherein the content of the first and second substances,
the position and posture of the coordinate system of the Optitrack system under the robot base coordinate system,
for the pose of the calibration plate under the calibration spherical coordinate system,
the pose of the spherical coordinate system under the coordinate system of the Optitrack system is calibrated.
Further preferably, in step S4, the hand-eye camera internal reference K is obtained by using the Zhangyingyou scaling method1。
More preferably, step S4 specifically includes the following steps:
s41 maps the point (X, Y, 0) on the calibration board obtained by the hand-eye camera to the hand-eye camera coordinate system, so as to obtain the point (X, Y, z) on the hand-eye camera coordinate system, and then maps the point (X, Y, z) on the hand-eye camera coordinate system to the hand-eye camera pixel coordinate system, so as to obtain the pixel point (u, v), the mapping relationship among the point (X, Y, 0) on the calibration board, the point (X, Y, z) on the hand-eye camera coordinate system, and the pixel point (u, v), as follows:
where s denotes a scale factor, X, Y is size information of a dot on a calibration board, K1Is an internal parameter of the hand-eye camera, r1、r2T is external reference of hand-eye camera, [ r ]1r2r3]Is a rotation matrix;
s42, constructing an intermediate variable matrix H ═ H according to the mapping relation between the points (X, Y, 0) on the calibration board and the pixel points (u, v)1h2h3]＝K1[r1r2T]And constructing the internal reference K of the hand-eye camera by using the same1The calculation model of (2):
wherein H ═ H1h2h3]Is an intermediate variable matrix;
s43 constructing object according to the internal parameter and external parameter relation model of hand-eye camera and the mapping relation in step S41Pose T of fixed plate under hand-eye camera coordinate systemc tSolving the model:
Tc t＝[r1r2r3T]。
as a further preferable mode, the calculation model of the pose of the hand-eye camera coordinate system in the robot end coordinate system in step S5 is:
wherein the content of the first and second substances,
is the pose of the robot end coordinate system in the robot base coordinate system,
to calibrate the pose of the board in the robot base coordinate system,
the pose of the calibration plate in the hand-eye camera coordinate system is calibrated.
As a further preferred, the calibration method further includes the steps of: changing the installation pose of the calibration plate at the tail end of the robot, repeating the steps from S2 to S5, obtaining a plurality of camera external parameters, carrying out denoising processing on the plurality of camera external parameters, and obtaining the camera external parameters by adopting an average value method or a Kalman filtering calculation method so as to realize the calibration of the camera external parameters.
Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1. according to the invention, the Optitrack system is constructed, and the calibration ball and the calibration plate with the calibration function are matched, so that the calculation of the external parameters of the hand-eye camera is associated with the Optitrack system, and the position and the posture of the plate under the robot base coordinate system can be efficiently and accurately calibrated, and the accurate position and the posture of the camera relative to the tail end of the robot can be obtained. The invention has simple and convenient calculation and high precision, and can effectively overcome the deviation of the position and the posture of the camera relative to the robot and the design value caused by factors such as production, processing, installation and the like.
2. The Optitrack system comprises 6-8 cameras which are arranged in a non-collinear mode, and the pose of the Optitrack system calibration spherical coordinate system under the Optitrack system coordinate system can be accurately obtained, so that the position and the pose of the plate under the robot base coordinate system can be efficiently and accurately calibrated.
3. According to the invention, a plurality of calibration balls are arranged on the calibration plate, so that the correlation and conversion between an Optitrack system coordinate system and a robot base coordinate system can be realized.
4. The invention enables the calibration plate with a plurality of calibration balls to be arranged at any position in the visual field range of the hand-eye camera, thereby obtaining the position and posture of the calibration plate under the robot base coordinate system according to the position and posture of the Optitrack system under the robot base coordinate system, the position and posture of the calibration plate under the Optitrack system and the position and posture of the calibration plate under the Optitrack system, and the invention has high precision, simplicity and rapidness.
5. The method adopts a Zhang Zhengyou calibration method to obtain internal parameters of the hand-eye camera, constructs the pose of the calibration plate under the coordinate system of the hand-eye camera according to the points on the image obtained by the hand-eye camera and the mapping relation of the positions of the points in the coordinate system of the hand-eye camera, has simple and convenient calculation and high precision, and can effectively overcome the deviation of the position, the pose and the design value of the camera relative to the robot caused by factors such as production, processing, installation and the like.
Drawings
Fig. 1 is a flowchart of a camera external reference calibration method based on an Optitrack system according to a preferred embodiment of the present invention;
fig. 2 is a schematic diagram of a junction of an arrangement of an Optitrack system in a camera external reference calibration method based on the Optitrack system according to a preferred embodiment of the present invention;
fig. 3 is a schematic structural diagram of a pose relationship between a calibration plate and a calibration sphere in a camera external reference calibration method based on an Optitrack system according to a preferred embodiment of the present invention, where 1 is a marker sphere;
fig. 4 is a schematic diagram of a relationship among a robot base coordinate system, a hand-eye camera coordinate system, a calibration plate coordinate system, and an Optitrack system coordinate system after a hand-eye camera is installed in a camera external reference calibration method based on an Optitrack system according to a preferred embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, a camera external reference calibration method based on an Optitrack system provided in an embodiment of the present invention includes the following steps:
the method comprises the following steps: as shown in FIG. 2, the Optitrack system is arranged, the number of cameras is set to be 6-8, and the 6-8 cameras are arranged in a non-collinear mode. And (4) performing calibration work on the system by using Optitrack motion. The Optitrack system is a high-precision low-delay target capture system, can capture the position and the posture of a target object within the range of 20m multiplied by 25m, and experimental results show that the three-dimensional coordinate repeated measurement precision of the Optitrack system is better than 0.04mm within the range of 3 m. And arranging a plurality of calibration balls in the Optitrack system, calibrating the calibration balls in the Optitrack system, and generating an Optitrack system coordinate system. Generally, the calibration ball is a fluorescent ball that can be recognized by a camera.
As a preferred embodiment of the present invention, three calibration balls are arranged in the Optitrack system.
Step two: as shown in fig. 3, a calibration plate is installed at the end of the robot, a plurality of calibration balls are arranged on the calibration plate, a calibration ball coordinate system is constructed, and the pose of the Optitrack system coordinate system under the robot base coordinate system is obtained through the kinematic relationship of the robot and the pose of the calibration plate in the calibration ball coordinate system
Specifically, in the present invention, a robot base coordinate system is generally selected as a world coordinate systemThe system uses an Optitrack system to obtain the position posture of a calibration plate and sets the position posture as an Optitrack system coordinate system O, and the pose of the Optitrack system coordinate system in a world coordinate system can be obtained through the kinematic relationship of a robot and the accurate installation relationship of the calibration plate
More specifically, the second step includes the following steps:
(1) and a calibration plate is arranged at the tail end of the robot, so that the robot is in an initial posture.
(2) A plurality of calibration balls are arranged on the calibration plate, a calibration ball coordinate system is constructed, and therefore the pose of the calibration plate under the calibration ball coordinate system is obtained
(3) Acquiring the pose of the robot end coordinate system in the robot base coordinate system through the robot kinematics relation
(4) The installation relation between the calibration plate and the tail end of the robot and the pose of the calibration plate under a calibration spherical coordinate system
And the pose of the robot end coordinate system in the robot base coordinate system
Acquiring the pose of the Optitrack system coordinate system under the robot base coordinate system
Step three: as shown in fig. 4, a hand-eye camera is installed at the end of the robot, the calibration plate with the plurality of calibration balls arranged in step S2 is placed at any position in the visual field of the hand-eye camera, and the calibration ball coordinate system is acquired by the Optitrack system in the Optitrack system coordinate systemLower position and attitude
Thereby obtaining the pose of the calibration plate under the robot base coordinate system
Specifically, a hand-eye camera is arranged at the tail end of the robot, the calibration plate is placed at any pose in the visual field of the hand-eye camera, and the pose of a marker spherical coordinate system t1 of the calibration plate under an Optitrack system coordinate system is obtained by means of Optitrack system markers
And the pose of the calibration plate under the robot base coordinate system is obtained by calculation
More specifically, the third step specifically includes the following steps:
(1) taking down the calibration plate with the calibration balls in the step S2, installing the hand-eye camera at the tail end of the robot, and enabling the calibration plate with the calibration balls to be located at any position in the visual field range of the hand-eye camera;
(2) the pose of the calibration spherical coordinate system under the coordinate system of the Optitrack system is obtained through the Optitrack system
(3) According to the position and posture of the Optitrack system coordinate system under the robot base coordinate system
Pose of calibration plate under calibration spherical coordinate system
And calibrating the pose of the spherical coordinate system under the coordinate system of the Optitrack system
Obtaining the pose of the calibration plate under the robot base coordinate system
Wherein, the position and posture of the calibration plate under the robot base coordinate system
The calculation model of (a) is:
and 4, step 4: obtaining camera internal reference K by Zhangzhen scaling method1And the position and posture T of the calibration plate under the hand-eye camera coordinate systemc t. The concrete solving steps are as follows:
(1) mapping a point (X, Y, 0) on a calibration plate acquired by a hand-eye camera into a hand-eye camera coordinate system so as to acquire a point (X, Y, z) of the hand-eye camera coordinate system, then mapping the point (X, Y, z) of the hand-eye camera coordinate system into a hand-eye camera pixel coordinate system so as to acquire a pixel point (u, v), and mapping relations of the point (X, Y, 0) on the calibration plate, the point (X, Y, z) of the hand-eye camera coordinate system and the pixel point (u, v) are as follows:
where s denotes a scale factor, X, Y is size information of a dot on a calibration board, K1Is an internal parameter of the hand-eye camera, r1、r2T is external reference of hand-eye camera, [ r ]1r2r3]Is a rotation matrix R; (X, Y) is known as the size of the calibration object, (u, v) is also measurable for the imaging pixel, and the unknown parameter is the camera intrinsic parameter K1Root of Redborne ginseng1、r2、T。
(2) Constructing an intermediate variable matrix H ═ H according to the mapping relation of the points (X, Y, 0) and the pixel points (u, v) on the calibration plate1h2h3]＝K1[r1r2T]And constructing the internal reference K of the hand-eye camera by using the same1The calculation model of (2):
since the matrix R is selected as the rotation matrix, R can be obtained1 Tr2＝0，
And H represents the mapping relation between points (X, Y, 0) on the calibration plate and pixel points (u, v), and when the number of the angular points of the calibration plate on one picture acquired by the hand-eye camera is equal to 4, the matrix H corresponding to the picture can be obtained. And when the number of the corner points of the calibration board on one picture is more than 4, regressing the optimal matrix H by using a least square method. Since the corresponding matrix H is actually different for different points on the same picture, the matrix H is approximate here.
(3) Constructing the pose T of the calibration plate under the hand-eye camera coordinate system according to the hand-eye camera internal parameter and hand-eye camera external parameter relation model and the mapping relation in the step S41c tSolving the model:
r3＝r1×r2
finally, the pose of the calibration plate under the hand-eye camera coordinate system is obtained
Step five: according to the position and posture of the robot end coordinate system in the robot base coordinate system
Position and pose of calibration plate in hand-eye camera coordinate system
And calibrating the pose of the board in the robot base coordinate system
And acquiring the pose of the hand-eye camera coordinate system in the robot tail end coordinate system to finish the camera external reference calibration. The calculation model of the pose of the hand-eye camera coordinate system in the robot terminal coordinate system is as follows:
wherein the content of the first and second substances,
is the pose of the robot end coordinate system in the robot base coordinate system,
to calibrate the pose of the board in the robot base coordinate system,
the pose of the calibration plate in the hand-eye camera coordinate system is calibrated.
As a preferred embodiment of the present invention, the calibration method further comprises the following steps: and changing the installation pose of the calibration plate at the tail end of the robot, repeating the second step to the fifth step, obtaining a plurality of external parameters of the camera, denoising the external parameters of the camera, and obtaining the external parameters of the camera by adopting an average value method or a Kalman filtering calculation method so as to realize the calibration of the external parameters of the camera. After the calibration plate is moved to different positions and angles, the steps from the second step to the fifth step are repeatedly executed for multiple times to calculate the external parameters of the hand-eye camera of the robot, and then averaging or Kalman filtering calculation and the like are carried out to determine the external parameters of the hand-eye camera of the robot, so that the calculation precision is improved.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A camera external reference calibration method based on an Optitrack system is characterized by comprising the following steps:
s1, constructing an Optitrack system, wherein the Optitrack system comprises a camera group consisting of a plurality of cameras and a plurality of calibration balls, and calibrating the calibration balls in the Optitrack system to generate an Optitrack system coordinate system;
s2, a calibration plate is arranged at the tail end of the robot, a plurality of calibration balls are arranged on the calibration plate, a calibration ball coordinate system is constructed, and the pose of the Optitrack system coordinate system under the robot base coordinate system is obtained through the kinematic relationship of the robot and the pose of the calibration plate in the calibration ball coordinate system
S3, installing a hand-eye camera at the tail end of the robot, placing the calibration plate with the calibration balls in the step S2 at any position in the visual field range of the hand-eye camera, and acquiring the pose of the calibration ball coordinate system under the Optitrack system coordinate system through the Optitrack system
Thereby obtaining the pose of the calibration plate under the robot base coordinate system
S4 obtaining the poses of the hand-eye camera internal reference and calibration plate in the hand-eye camera coordinate system
S5 pose in robot base coordinate system according to robot end coordinate system
Position and pose of calibration plate in hand-eye camera coordinate system
And calibrating the pose of the board in the robot base coordinate system
And acquiring the pose of the hand-eye camera coordinate system in the robot tail end coordinate system to finish the camera external reference calibration.
2. The camera external reference calibration method based on the Optitrack system according to claim 1, wherein the Optitrack system comprises 6-8 cameras which are arranged in a non-collinear mode.
3. The camera external reference calibration method based on the Optitrack system as claimed in claim 1, wherein the step S2 specifically includes the following steps:
s21, mounting a calibration plate at the tail end of the robot to enable the robot to be in an initial posture;
s22, mounting a plurality of calibration balls on the calibration plate, and constructing a calibration ball coordinate system so as to obtain the pose of the calibration plate under the calibration ball coordinate system
S23 acquiring the robot end coordinate system in the robot base coordinate system through the robot kinematics relationPosition and posture of
S24 calibrating installation relation between plate and robot end, and position and pose of the plate in calibrating spherical coordinate system
And the pose of the robot end coordinate system in the robot base coordinate system
Acquiring the pose of the Optitrack system coordinate system under the robot base coordinate system
4. The camera external reference calibration method based on the Optitrack system as claimed in claim 3, wherein the step S3 specifically comprises the following steps:
s31, taking down the calibration board with the calibration balls in the step S2, installing the hand-eye camera at the tail end of the robot, and enabling the calibration board with the calibration balls to be located at any position in the visual field range of the hand-eye camera;
s32, acquiring the pose of the calibration spherical coordinate system under the Optitrack system coordinate system through the Optitrack system
S33 pose under the robot base coordinate system according to the Optitrack system coordinate system
Pose of calibration plate under calibration spherical coordinate system
And calibrating the pose of the spherical coordinate system under the coordinate system of the Optitrack system
Obtaining the pose of the calibration plate under the robot base coordinate system
5. The camera external reference calibration method based on the Optitrack system as claimed in claim 4, wherein the calibration plate is used for calibrating the pose of the camera external reference calibration plate under the robot base coordinate system
The calculation model of (a) is:
wherein the content of the first and second substances,
the position and posture of the coordinate system of the Optitrack system under the robot base coordinate system,
for the pose of the calibration plate under the calibration spherical coordinate system,
the pose of the spherical coordinate system under the coordinate system of the Optitrack system is calibrated.
6. The camera external reference calibration method based on the Optitrack system as claimed in claim 1, wherein the step S4 is performed by using a Zhang Zhengyou calibration method to obtain the internal reference K of the hand-eye camera1。
7. The camera external reference calibration method based on the Optitrack system as claimed in claim 1, wherein the step S4 specifically includes the following steps:
s41 maps the point (X, Y, 0) on the calibration board obtained by the hand-eye camera to the hand-eye camera coordinate system, so as to obtain the point (X, Y, z) on the hand-eye camera coordinate system, and then maps the point (X, Y, z) on the hand-eye camera coordinate system to the hand-eye camera pixel coordinate system, so as to obtain the pixel point (u, v), the mapping relationship among the point (X, Y, 0) on the calibration board, the point (X, Y, z) on the hand-eye camera coordinate system, and the pixel point (u, v), as follows:
where s denotes a scale factor, X, Y is size information of a dot on a calibration board, K1Is an internal parameter of the hand-eye camera, r1、r2T is external reference of hand-eye camera, [ r ]1r2r3]Is a rotation matrix;
s42, constructing an intermediate variable matrix H ═ H according to the mapping relation between the points (X, Y, 0) on the calibration board and the pixel points (u, v)1h2h3]＝K1[r1r2T]And constructing the internal reference K of the hand-eye camera by using the same1The calculation model of (2):
wherein H ═ H1h2h3]Is an intermediate variable matrix;
s43, constructing the pose of the calibration plate under the hand-eye camera coordinate system according to the hand-eye camera internal parameter and hand-eye camera external parameter relation model and the mapping relation in the step S41
Solving the model:
8. the camera external reference calibration method based on the Optitrack system as claimed in claim 1, wherein the calculation model of the pose of the hand-eye camera coordinate system in the robot end coordinate system in the step S5 is:
wherein the content of the first and second substances,
is the pose of the robot end coordinate system in the robot base coordinate system,
to calibrate the pose of the board in the robot base coordinate system,
the pose of the calibration plate in the hand-eye camera coordinate system is calibrated.
9. The camera external reference calibration method based on the Optitrack system as claimed in claim 1, wherein the calibration method further comprises the following steps: changing the installation pose of the calibration plate at the tail end of the robot, repeating the steps from S2 to S5, obtaining a plurality of camera external parameters, carrying out denoising processing on the plurality of camera external parameters, and obtaining the camera external parameters by adopting an average value method or a Kalman filtering calculation method so as to realize the calibration of the camera external parameters.
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| CN112330749A (en) * | 2020-10-22 | 2021-02-05 | 深圳众为兴技术股份有限公司 | Hand-eye calibration method and hand-eye calibration device for camera mounted on robot arm |
| CN112571416A (en) * | 2020-12-10 | 2021-03-30 | 北京石油化工学院 | Coordinate system calibration method suitable for robot system and motion capture system |
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