User Manual

Fig. 6.7.5: Defining hand-eye calibration settings via the rc_visard’s Web GUI
Step 2: Selecting and reporting robot calibration positions
In this step (2a.), the user defines several calibration positions for the robot to approach. These positions must
each ensure that the calibration grid is completely visible in rc_visard’s left camera image. Furthermore, the robot
positions need to be selected properly to achieve a variety of different perspectives for the rc_visard to perceive
the calibration grid. Fig. 6.7.6 shows a schematic recommendation of four different view points.
Fig. 6.7.6: Recommended views on the calibration grid during the calibration procedure
Warning: Calibration quality, i.e., the accuracy of the calculated calibration result, depends on the calibration-
grid views provided. The more diverse the perspectives are, the better is the calibration. Choosing very similar
views, i.e., varying the robot positions only slightly between different repetitions of step 2a., may lead to
inaccurate estimation of the desired calibration transformation.
6.7. Hand-eye calibration 58