Theoretical analysis and valication on position-pose measurement accuracy of hand-eye camera

Ma Jun; Zhang Ying; Di Nan; Nie Zhenwei

In order to realize position-pose measurement of hand-eye camera,an measurement accuracy test system was established. Firstly,based on the target design forms and P3P algorithm, position-pose measurement principle was presented. Sencondly, the position measurement accuracy and pose measurement accuracy were analyzed in theory, i.e., the translational position measurement accuracy along the X axis of the target and the rotational pose measurement accuracy about the X-axis, Y-axis and Z-axis of the target. Thirdly, the usual test method was presented, a new test way to achieve six degree of freedom by relative position -pose production was proposed. Root mean square error was introduced as an evaluation for measurement accuracy, and the test method was described in detail. Finally, practical test for measurement accuracy of an hand -eye camera was carried out, and the experimental data was compared with the theoretical data. The experimental results indicate that the maximum measurement accuracy for distance is 25.60mm and the maximum measurement accuracy for rotation is 1.4. It can satisfy the system requirements for accuracy.

1. Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China

Received Date: 2014-04-26

Rev Recd Date: 2014-05-25

Publish Date: 2014-12-25

Key words:

Abstract: In order to realize position-pose measurement of hand-eye camera,an measurement accuracy test system was established. Firstly,based on the target design forms and P3P algorithm, position-pose measurement principle was presented. Sencondly, the position measurement accuracy and pose measurement accuracy were analyzed in theory, i.e., the translational position measurement accuracy along the X axis of the target and the rotational pose measurement accuracy about the X-axis, Y-axis and Z-axis of the target. Thirdly, the usual test method was presented, a new test way to achieve six degree of freedom by relative position -pose production was proposed. Root mean square error was introduced as an evaluation for measurement accuracy, and the test method was described in detail. Finally, practical test for measurement accuracy of an hand -eye camera was carried out, and the experimental data was compared with the theoretical data. The experimental results indicate that the maximum measurement accuracy for distance is 25.60mm and the maximum measurement accuracy for rotation is 1.4. It can satisfy the system requirements for accuracy.

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Theoretical analysis and valication on position-pose measurement accuracy of hand-eye camera

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