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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2509.12928 |
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| _version_ | 1866911245576175616 |
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| author | Yang, Peiwen Jiang, Mingquan Shen, Xinyue Zhang, Heping |
| author_facet | Yang, Peiwen Jiang, Mingquan Shen, Xinyue Zhang, Heping |
| contents | Laser vision sensors (LVS) are critical perception modules for industrial robots, facilitating real-time acquisition of workpiece geometric data in welding applications. However, the camera communication delay will lead to a temporal desynchronization between captured images and the robot motions. Additionally, hand-eye extrinsic parameters may vary during prolonged measurement. To address these issues, we introduce a measurement model of LVS considering the effect of the camera's time-offset and propose a teaching-free spatiotemporal calibration method utilizing line constraints. This method involves a robot equipped with an LVS repeatedly scanning straight-line fillet welds using S-shaped trajectories. Regardless of the robot's orientation changes, all measured welding positions are constrained to a straight-line, represented by Plucker coordinates. Moreover, a nonlinear optimization model based on straight-line constraints is established. Subsequently, the Levenberg-Marquardt algorithm (LMA) is employed to optimize parameters, including time-offset, hand-eye extrinsic parameters, and straight-line parameters. The feasibility and accuracy of the proposed approach are quantitatively validated through experiments on curved weld scanning. We open-sourced the code, dataset, and simulation report at https://anonymous.4open.science/r/LVS_ST_CALIB-015F/README.md. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_12928 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Spatiotemporal Calibration for Laser Vision Sensor in Hand-eye System Based on Straight-line Constraint Yang, Peiwen Jiang, Mingquan Shen, Xinyue Zhang, Heping Robotics Laser vision sensors (LVS) are critical perception modules for industrial robots, facilitating real-time acquisition of workpiece geometric data in welding applications. However, the camera communication delay will lead to a temporal desynchronization between captured images and the robot motions. Additionally, hand-eye extrinsic parameters may vary during prolonged measurement. To address these issues, we introduce a measurement model of LVS considering the effect of the camera's time-offset and propose a teaching-free spatiotemporal calibration method utilizing line constraints. This method involves a robot equipped with an LVS repeatedly scanning straight-line fillet welds using S-shaped trajectories. Regardless of the robot's orientation changes, all measured welding positions are constrained to a straight-line, represented by Plucker coordinates. Moreover, a nonlinear optimization model based on straight-line constraints is established. Subsequently, the Levenberg-Marquardt algorithm (LMA) is employed to optimize parameters, including time-offset, hand-eye extrinsic parameters, and straight-line parameters. The feasibility and accuracy of the proposed approach are quantitatively validated through experiments on curved weld scanning. We open-sourced the code, dataset, and simulation report at https://anonymous.4open.science/r/LVS_ST_CALIB-015F/README.md. |
| title | Spatiotemporal Calibration for Laser Vision Sensor in Hand-eye System Based on Straight-line Constraint |
| topic | Robotics |
| url | https://arxiv.org/abs/2509.12928 |