Hand-eye calibration method for a line structured light robot vision system based on a single planar constraint

Hand-eye calibration is a prerequisite for robot vision system applications. However, due to the lack of image features, implementing hand-eye calibration with a line-structured light sensor is limited by complex procedures and special reference objects. The aim of this paper is to develop a stable and undemanding eye-in-hand calibration method with a 2D laser sensor that can be adapted to random measurement strategies in most common scenes. The proposed method can use an easily accessible plane from machined workpieces, except for specialized calibration objects, which facilitates the automation of industrial robots. Moreover, in this method, a two-step iterative method is combined with fast simulated annealing based on a single planar constraint to overcome large initial deviations and sensor errors. Simulations and calibration experiments are conducted to assess the method performance and demonstrate the feasibility and accuracy of the proposed eye-in-hand calibration method.