Accuracy of hand-eye calibration

ahundt / grl

Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.

https://ahundt.github.io/grl/

BSD 2-Clause "Simplified" License

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Accuracy of hand-eye calibration #165

Closed Chunting closed 6 years ago

Chunting commented 6 years ago

I have some doubts about hand-eye calibration. Since all the matrix are read from vrep scene, if the vrep model is not accurate enough, does it affect the final result? See the detail HandEyeCalibrationVrepPlugin.hpp (addFrame()) optimal hand eye calibration 004

[x] From equation AX=XB, it seems good since A and B are relative transform matrix, but double check the effect of inaccuracy from VREP scene
[x] Is it possible to make it independent of VREP scene?

Chunting commented 6 years ago

Before since the attracsys was blocked in vrep scene, the result of hand-eye calibration was totally wrong. Now the result seems good enough. screenshot from 2018-05-30 14-54-35