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An automatic calibration approach for a multi-camera-robot system

: Kroeger, Ole; Hügle, Johannes; Niebuhr, Carsten A.


Institute of Electrical and Electronics Engineers -IEEE-; IEEE Industrial Electronics Society -IES-:
24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019. Proceedings : Zaragoza, Spain, 10 - 13 September 2019
Piscataway, NJ: IEEE, 2019
ISBN: 978-1-7281-0303-7
ISBN: 978-1-7281-0302-0
ISBN: 978-1-7281-0304-4
International Conference on Emerging Technologies and Factory Automation (ETFA) <24, 2019, Zaragoza>
Conference Paper
Fraunhofer IPK ()
camera calibration; eye-to-hand calibration; vision-based industrial robot; ArUco marker; ChArUco board

In this paper we present an automated and precise calibration approach to enable a vision-based robot control with a multi-camera setup. In our case we use a setup consisting of four fixed cameras above the workplace (eye-to-hand configuration) and a collaborative robot. The robot will be used to automate the intrinsic camera calibration and the necessary process of capturing images of a calibration pattern from a maximum number of different viewpoints. For the extrinsic calibration of the cameras and the calibration to the robot we use only two small markers, which are permanently attached to the base of the robot. This allows a fast online calibration of the setup. With the help of first experiments, we can show that the calibration method works well under laboratory conditions. Furthermore, we will discuss the achieved accuracy.