Automatic hand-eye calibration using markers on a social robot
DOI:
https://doi.org/10.17979/ja-cea.2025.46.12123Keywords:
Perception and sensing, Information and sensor fusion, Embedded robotics, Mobile robots, Robotics technologyAbstract
This paper presents an automated approach for hand-eye calibration between an external camera and a robot base, using an ArUco marker as a shared visual reference. A camera mounted on the robot’s wrist captures an image of the marker, whose relative position is known from the robot’s URDF. Simultaneously, an external camera, arbitrarily placed in the environment, captures another image of the same marker. From these two observations and knowing the transformation between the marker and each camera, the transformation between the external camera and the robot base is estimated. This approach enables accurate alignment of external vision systems with the robot’s reference frame, eliminating the need for manual calibration, facilitating the calculation of the position of an external camera with respect to the robot base.
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Copyright (c) 2025 Miguel García-Gómez, Jaime Duque-Domingo, Jaime Gómez-García-Bermejo, Eduardo Zalama
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
