Realsense hand-eye calibration - best practise?

Hello,

what is a good way to do eye-to-hand calibration with a RealSense D435 between the fixed camera and a robot arm (e.g. UR)? I have used the easy_handeye package to calibrate the RGB camera to the robot base, but the result is consistently off by a few cm.

Is it better to calibrate against the IR camera? Is the factory intrinsic calibration of the RealSense typically sufficient?

Best Regards!

Asked by Nicolas on 2019-11-11 06:05:33 UTC

Comments

Which calibration object you are using... Chessboard or aruca tag ??

Asked by Abhishekpg on 2020-01-09 15:57:20 UTC

Answers

You can try this repo, which works on ROS2 dashing with realsense D435 and UR5.

Asked by RoboticsYY on 2019-11-26 02:11:43 UTC

Comments

Factory calibration is usually sufficient.

Asked by Thomas B. Lyons on 2020-01-09 05:06:44 UTC

Comments

You can use the package visp_hand2eye_calibration to do the calibration. The aruca tag is commonly used as the calibration object. It gives accurate calibration.

Asked by Abhishekpg on 2020-01-09 15:58:28 UTC