Surgery Robot Using Dual Quaternions Jochen Schmidt, Florian Vogt, and...  Home/Search
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Abstract: This paper presents an approach for applying a dual quaternion hand-- eye calibration algorithm on an endoscopic surgery robot. Special focus is on robustness, since the error of position and orientation data provided by the robot can be large depending on the movement actually executed. Another inherent problem to all hand--eye calibration methods is that non--parallel rotation axes must be used; otherwise, the calibration will fail. Thus we propose a method for increasing the numerical... (Update)
Active bibliography (related documents): More All
1.5: Robust Hand-Eye Calibration of an Endoscopic Surgery.. - Schmidt, Vogt, Niemann (2003) (Correct)
0.6: Vector Quantization Based Data Selection for Hand-Eye.. - And Heinrich Niemann (2004) (Correct)
0.4: Calibration--Free Hand--Eye Calibration: - Structure--From--Motion Approach .. (2005) (Correct)
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BibTeX entry: (Update)
@misc{ using-robust,
author = "Surgery Robot Using",
title = "Robust Hand--Eye Calibration of an Endoscopic",
url = "citeseer.ist.psu.edu/757925.html" }
Citations (may not include all citations):650 Three-Dimensional Computer Vision: A Geometric Viewpoint (context) - Faugeras - 1993
454 A Versatile Camera Calibration Technique for High--Accuracy .. (context) - Tsai - 1987
430 Random sample consensus: a paradigm for model fitting with a.. (context) - Fischler, Bolles - 1981
32 New Technique Fully Autonomou and Efficient D Robotic HandEy.. (context) - Lenz, for et al. - 1989
29 Hand-Eye Calibration - Horaud, Dornaika - 1995
25 Calibration of Wrist Mounted Robotic Sensors by Solving Homo.. (context) - Shiu, Ahmad - 1989
15 A Screw Motion Approach to Uniqueness Analysis of Head--Eye .. (context) - Chen - 1991
10 Preliminary Sketch of Bi--quaternions (context) - Clifford
7 Hand-Eye Calibration Using Dual Quaternions - Daniilidis - 1999
4 Using Quaternions for Parametrizing 3--D Rotations in Uncons.. - Schmidt, Niemann - 2001
3 Using the Algebra of Dual Quaternions for Motion Alignment (context) - Daniilidis - 2001
2 Endoskopische Lichtfelder mit einem kamerafuhrenden Roboter (context) - Vogt, Kruger et al. - 2003
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