A Simulation Study and Experimental Verification of Hand-Eye-Calibration using Monocular X-Ray
Dorn P, Fischer P, Mönnich H, Mewes P, Khalil A, Gulhar A, Maier A (2018)
Publication Type: Conference contribution
Publication year: 2018
Publisher: Springer Berlin Heidelberg
Edited Volumes: Informatik aktuell
Pages Range: 103-108
Conference Proceedings Title: Informatik aktuell
Event location: Erlangen
URI: https://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2018/Dorn18-ASS.pdf
DOI: 10.1007/978-3-662-56537-7_38
Abstract
In this paper, the simultaneous hand-eye/robot-world problem AX = ZB is performed using a single X-ray image instead of a stereo camera in order to avoid the additional tracking device. Our setup consists of a special X-ray marker, several image preprocessing steps, and a monocular pose estimation algorithm, for extracting the 6- D pose of the marker with respect to the X-ray source. Simulations are performed to investigate the behavior of the proposed hand-eye method when including inaccuracies of the robot and the non-isotropic errors of monocular pose estimation. The simulations were evaluated in an experimental setup, reaching an accuracy of 0.06° and 0.77mm.
Authors with CRIS profile
Peter Fischer
Lehrstuhl für Informatik 14 (Bild- und Sprachverarbeitung)
Philip Mewes
Lehrstuhl für Informatik 14 (Bild- und Sprachverarbeitung)
Andreas Maier
Lehrstuhl für Informatik 5 (Mustererkennung)
Involved external institutions
Germany (DE)How to cite
APA:
Dorn, P., Fischer, P., Mönnich, H., Mewes, P., Khalil, A., Gulhar, A., & Maier, A. (2018). A Simulation Study and Experimental Verification of Hand-Eye-Calibration using Monocular X-Ray. In Informatik aktuell (pp. 103-108). Erlangen: Springer Berlin Heidelberg.
MLA:
Dorn, Petra, et al. "A Simulation Study and Experimental Verification of Hand-Eye-Calibration using Monocular X-Ray." Proceedings of the Bildverarbeitung für die Medizin 2018, Erlangen Springer Berlin Heidelberg, 2018. 103-108.
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