Hand-eye Calibration with a Depth Camera: 2D or 3D?

Svenja Kahn, Dominik Haumann, Volker Willert


Real time 3D imaging applications such as on the fly 3D inspection or 3D reconstruction can be created by rigidly coupling a depth camera with an articulated measurement arm or a robot. For such applications, the "hand-eye transformation" between the depth camera and the measurement arm needs to be known. For depth cameras, the hand-eye transformation can either be estimated using 2D images or the 3D measurements captured by the depth camera. This paper investigates the comparison between 2D image based and 3D measurement based hand-eye-calibration. First, two hand-eye calibration approaches are introduced which differ in the way the camera pose is estimated (either with 2D or with 3D data). The main problem in view of the evaluation is, that the ground truth hand-eye transformation is not available and thus a direct evaluation of the accuracy is not possible. Therefore, we introduce quantitative 2D and 3D error measures that allow for an implicit evaluation of the accuracy of the calibration without explicitly knowing the real ground truth transformation. In view of 3D precision, the 3D calibration approach provides more accurate results on average but requires more manual preparation and much more computation time than the 2D approach.


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Paper Citation

in Harvard Style

Kahn S., Haumann D. and Willert V. (2014). Hand-eye Calibration with a Depth Camera: 2D or 3D? . In Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2014) ISBN 978-989-758-009-3, pages 481-489. DOI: 10.5220/0004668604810489

in Bibtex Style

author={Svenja Kahn and Dominik Haumann and Volker Willert},
title={Hand-eye Calibration with a Depth Camera: 2D or 3D?},
booktitle={Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2014)},

in EndNote Style

JO - Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2014)
TI - Hand-eye Calibration with a Depth Camera: 2D or 3D?
SN - 978-989-758-009-3
AU - Kahn S.
AU - Haumann D.
AU - Willert V.
PY - 2014
SP - 481
EP - 489
DO - 10.5220/0004668604810489