公开(公告)号：US20240212210A1

公开(公告)日：2024-06-27

申请号：US18475025

申请日：2023-09-26

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian GAO ,  Zhenyu ZHENG ,  Zhuojun ZHENG ,  Lanyu ZHANG ,  Haixiang DENG ,  Xin CHEN

IPC: G06T7/80 ,  B25J9/16 ,  H04N17/00

CPC classification number: G06T7/80 ,  B25J9/1692 ,  B25J9/1697 ,  H04N17/002 ,  G06T2207/10028 ,  G06T2207/30244

Abstract: A hand-eye calibration method based on three-dimensional point cloud of a calibration plate. The method includes: constructing a two-dimensional checkerboard calibration plate and a three-dimensional scanning system consisting of a camera and a projector; performing a calibration on each of the camera and the projector to obtain internal parameters of the two; performing a calibration on the camera and the projector to obtain a coordinate system transformation relation between the two; changing a pose of the calibration plate for at least three times, and acquiring at least three sets of transformation matrices of the calibration plate relative to a camera coordinate system and transformation matrices of an end of a manipulator relative to a manipulator base coordinate system through point cloud three-dimensional coordinates of the calibration plate; and solving to obtain a high-precision transformation matrix of the camera coordinate system relative to the manipulator base coordinate system.