Hand/eye calibration method using projective invariant shape...

Details Hand/eye calibration method using projective invariant shape... Hand/eye calibration method using projective invariant shape...

2006-12-19

2006-12-19

Mariam, Daniel (Department: 2624)

Image analysis

Pattern recognition

Feature extraction

C382S199000

Reexamination Certificate

active

07151853

ABSTRACT:
Provided is a hand/eye calibration method by using a projective invariant shape descriptor of a two-dimensional image. The method includes calculating a projective invariant shape descriptor of a two-dimensional image from at least two images obtained by a camera mounted on a robot hand, at a predetermined time interval, extracting corresponding points between the images by using the projective invariant shape descriptor, calculating a rotation matrix for the corresponding points from translation of the robot hand, calculating translation vector for the corresponding points from translation and rotation of the robot hand, and finding a relation between the robot hand and the camera based on the rotation matrix and the translation vector.

REFERENCES:
patent: 5227985 (1993-07-01), DeMenthon
patent: 5550376 (1996-08-01), Gupta et al.
Flusser “Invariant shape description and measure of object similarity”, IEEE, pp. 139-142, 1992.

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