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Realsense hand-eye calibration - best practise?

asked 2019-11-11 05:05:33 -0600

Nicolas gravatar image


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!

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

Abhishekpg gravatar image Abhishekpg  ( 2020-01-09 14:57:20 -0600 )edit

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answered 2020-01-09 14:58:28 -0600

Abhishekpg gravatar image

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.

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answered 2020-01-09 04:06:44 -0600

Thomas B. Lyons gravatar image

Factory calibration is usually sufficient.

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answered 2019-11-26 01:11:43 -0600

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

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Asked: 2019-11-11 05:05:33 -0600

Seen: 1,428 times

Last updated: Jan 09 '20