(Note that we have upload the main data of the revision. The remaining point clouds are too large, and we will upload them after organizing.)
The data in this repository is for the paper “Hand-eye Parameter Estimation Based on 3D Observation of A Single Marker”. It includes four sets of hand-eye calibration data, i.e., single-marker data and pattern data in eye-in-hand and eye-to-base configurations. Please refer to the reference article for details.
camera: Intel Realsense D415;
robot: Jaka Zu7;
target: 4 × 6 ChArUco pattern or 1 × 1 ChArUco marker.
Figure: The eye-in-hand configuration using the grid pattern (a), using the single marker (b), and the camera poses relative to the pattern (c).
camera: RVC-X mini;
robot: Jaka Zu7;
target: 4 × 6 ChArUco pattern or 1 × 1 ChArUco marker.
Figure: The eye-to-base configuration using the grid pattern (a), using the single marker (b), and the pattern poses relative to the camera (c).
Each dataset contains four folders as follows.
image: images captured by the camera;
imageUndistort: undistorted images with recognized corners;
pc: point clouds captured by 3D cameras （Note that the point cloud data is large and will be uploaded to the cloud in the near future.）;
pointCode: number and 3D position (mm) of ArUcos;
14 131.10023137487286 23.3593419551042 531.7328785405564
10 89.96901821050616 14.214530069864374 538.3700191889442
pointUndistort: number, 3D position (mm), and 2D pixels of corners;
0 108.65124582419413 18.6479941886997 524.650560088468
0 833.0937 388.00687 0
robot: the pose (x (mm), y (mm), z (mm), roll (radian), pitch (radian), yaw (radian)) executed by the robot.
20.89178 -443.14578 545.78949 -2.237171200091789 0.7151100770297445 2.1129048066671
55.84477 -376.25533 544.3847 -2.2281153848893664 0.7270383550660999 2.1927345944952443
Jin, G., Yu, X., Chen, Y., Li, J. (2023), Hand-eye Parameter Estimation Based on 3D Observation of A Single Marker, submitted to IEEE Trans. Instrum. Meas.
The associated codes can be downloaded at https://github.com/MatthewJin001/Single3D
Gumin Jin, Department of Automation, Shanghai Jiao Tong University, Shanghai, jingumin@sjtu.edu.cn