A Novel Camera-to-Robot Calibration Method for Vision-Based Floor Measurements
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arXiv
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| Format: | Preprint |
| Veröffentlicht: |
2026
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| _version_ | 1866910087132479488 |
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| author | Rudolph, Jan Andre Haitz, Dennis Ulrich, Markus |
| author_facet | Rudolph, Jan Andre Haitz, Dennis Ulrich, Markus |
| contents | A novel hand-eye calibration method for ground-observing mobile robots is proposed. While cameras on mobile robots are common, they are rarely used for ground-observing measurement tasks. Laser trackers are increasingly used in robotics for precise localization. A referencing plate is designed to combine the two measurement modalities of laser-tracker 3D metrology and camera-based 2D imaging. It incorporates reflector nests for pose acquisition using a laser tracker and a camera calibration target that is observed by the robot-mounted camera. The procedure comprises estimating the plate pose, the plate-camera pose, and the robot pose, followed by computing the robot-camera transformation. Experiments indicate sub-millimeter repeatability. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_15126 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | A Novel Camera-to-Robot Calibration Method for Vision-Based Floor Measurements Rudolph, Jan Andre Haitz, Dennis Ulrich, Markus Robotics Computer Vision and Pattern Recognition I.4.1; I.2.9 A novel hand-eye calibration method for ground-observing mobile robots is proposed. While cameras on mobile robots are common, they are rarely used for ground-observing measurement tasks. Laser trackers are increasingly used in robotics for precise localization. A referencing plate is designed to combine the two measurement modalities of laser-tracker 3D metrology and camera-based 2D imaging. It incorporates reflector nests for pose acquisition using a laser tracker and a camera calibration target that is observed by the robot-mounted camera. The procedure comprises estimating the plate pose, the plate-camera pose, and the robot pose, followed by computing the robot-camera transformation. Experiments indicate sub-millimeter repeatability. |
| title | A Novel Camera-to-Robot Calibration Method for Vision-Based Floor Measurements |
| topic | Robotics Computer Vision and Pattern Recognition I.4.1; I.2.9 |
| url | https://arxiv.org/abs/2603.15126 |