论文标题
最佳最小二乘解决方案解决了手眼校准问题
Optimal least-squares solution to the hand-eye calibration problem
论文作者
论文摘要
我们建议使用双重试验提出一个最小二乘配方，以根据问题的分析性能，避免非线性优化，并引入有效的算法，以找到有效的算法以找到确切的最佳解决方案。我们进一步提出了简单的分析近似解决方案，这些解决方案与精确解决方案相比提供了非常好的估计。此外，我们展示了如何概括解决方案以说明成本函数中给定的外部先验。据我们所知，我们的算法是最佳解决手眼校准问题的最有效方法。
We propose a least-squares formulation to the noisy hand-eye calibration problem using dual-quaternions, and introduce efficient algorithms to find the exact optimal solution, based on analytic properties of the problem, avoiding non-linear optimization. We further present simple analytic approximate solutions which provide remarkably good estimations compared to the exact solution. In addition, we show how to generalize our solution to account for a given extrinsic prior in the cost function. To the best of our knowledge our algorithm is the most efficient approach to optimally solve the hand-eye calibration problem.
