Joao Ramalhinho - Krittin Pachtrachai - CMIC-WEISS joint seminar series

Krittin Pachtrachai

Title: History of the hand-eye calibration problem in robots

Abstract: Hand-eye calibration is a very common problem in the eye-in-hand robot configuration, and it plays a vital role in completing the connection between the robot and camera coordinate systems. The problem dates back to 1980s, and the solution in the Special Euclidean domain was first proposed by Shiu and Ahmad. Several solutions on different domains are proposed later in the field and yield more accurate transformation estimations. However, the formulation does not work well in the surgical environment as the calibration needs a sufficiently wide camera motion range to reduce error and avoid degenerate configurations. This talk will cover the history of the hand-eye calibration problem and a potential solution to the hand-eye problem in the context of robotic surgery.

Joao Ramalhinho - title and abstract tbc