# Questions tagged [calibration]

Correlate the readings of a robot's instrument, sensor, etc. with those of a standard in order to check its accuracy. Adjust experimental results to take external factors into account or to allow comparison with other data.

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### How to get transform between two fixed frames using a camera

In my task, I have two manipulators: one 6 dof robot (Manipulator 2 as shown in attached link picture), and one passive arm (Manipulator 1 as shown in attached link picture). Both the frames 1 and 2 ...
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### IMU Senosr fusion algorithm of gyro and accelerometer during acceleration of vehicle

Hello so we have a car with 10 IMUs mounted at different locations of the car and the idea is the measure the centripetal force at each location of the car and compare it to each other. We also need ...
1 vote
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### Why would we solve AX=XB instead of just using the Kabsch algorithm?

I have a high precision stereo camera and a robot which are independent units (the camera is not mounted to the robot). I wish to compute a transformation from the camera frame to the robot base frame....
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### How to calibrate an accelerometer?

I'm confused about a few points on how to best calibrate an accelerometer, whose data will be used in an orientation sensor fusion algorithm. As a summary, the most common approaches I've seen take ...
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### Find a mistake in transformation between different coordinate frames in the WIP-calibration pipeline

I design the extrinsics calibration pipeline for the robotic agents, carrying onboard two sensors of different modalities. I aim to calibrate one of them (S) ...
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### Do electromagnets affect magnetometer calibration?

I am designing a landing pad for a drone that will have electromagnets built into the pad. My drone has a pixhawk 2 with PX4. I'm worried that the electromagnets in the pad will throw off the drone's ...
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### How to calibrate a magnetometer on a heavy robot

I am wondering how to calibrate a magnetometer on an IMU that is installed on a heavy robot. Normally, hard and soft iron calibration is done by spinning the IMU in all axis, but since it is installed ...
28 views

### Algorithm for Hand-eye Calibration with static camera brings wrong parameters

I tried a hand-eye-calibration with a static camera and the following alogorithm in Matlab. https://de.mathworks.com/matlabcentral/fileexchange/48696-camera-to-robotic-arm-calibration The algorithm is ...
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### Focus calibration to infinity

Well, it sounds easy problem but can we do it without pointing the camera to a faraway place? How does the manufacturer do this during mass production? Is there any focusing machine?
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### lens calibration with a circles grid

When we project a 3D circle onto image, its real center and the center of the ellipse fitted to the projected circle is different. To accurately estimate the true center from the projected image, a ...
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### How to calibrate a lens with wide fov and low F number

To calibrate a wide fov lens either a calibration board should be large or bring the calibration board closer to the lens. As making a large calibration board is expensive, I usually prefer the second ...
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### ROS Camera Calibration for Webcam - Not working

As a part of learning, I am trying to perform Camera calibration with my laptop's Webcam. I am really new to this process. I will explain everything about how far I have come so far, and where I have ...
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### Unstable principal point estimation in zoom camera calibration

I have a camera with a 1/2.9" image sensor from FLIR and a 12-50mm motorized zoom lens from Theia. Because the lens is a motorized zoom lens, I tried to calibrate the camera for different zoom ...
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1 vote
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### How to calculate extrinsic calibration of a non-overlapping multicamera rig?

thanks for taking the time to check my question. Firstly, let me describe the current configuration, I am using 4 cameras that produce non-overlapping images and the goal is to calculate their ...
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### Closed-form solution of extrinsic in 2D to 3D projection problem

The title is pretty much it. Anyone have seen a closed-form solution of extrinsic on 2D to 3D projection problem? Seems like this should exist in old camera calibration literature but I can't really ...
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### Depth camera pixel values to 3D coordinates

I have a robotic arm 6-DOF and an Intel RealSense depth camera. I want to go from pixel values to 3D world coordinates, is it possible with eye-in-hand calibration? If yes can you guide me on how to ...
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### Trouble aligning/calibrating camera with laser scanner

I have a robot which has 2 multi-spectral cameras and 1 laser scanner attached. In the end I would like to have the images from the cameras aligned with the scanner so that I can have spectral ...
32 views

### Hand-Eye Calibration without Robot Arm Calibration

I'm trying to do Hand-Eye Robot-Camera calibration. And I'm using MZ12(NACHI robot) and D435(Intel camera). But accuracy of the calibration result is so low. Average error of translation moving is ...
520 views

### Understanding types of hand eye calibration

I have been reading about hand eye calibration for a couple days. Basically, I have 2 setups I want to execute hand eye calibration. Camera is fixed in a position and arm is moving (eye on base); ...
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### how to calibrate gyroscope using raw gyro data?

I wrote a simple code for where I take 500 samples with stationary gyro and subtract those offset values to get calibrated gyro data. Question: Is this much calibration enough to implement this gyro ...
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### How do I calibrate a rotating laser scanner pose from known global coordinates?

Assume the following scenario: A 2D LIDAR sensor is mounted with a vertical (not exactly known) scan plane at a height of 20m The scanner can be rotated about the vertical axis and the encoder values ...
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### Robotic vision eye-in-hand research

I started researching Robotic Vision topics for a while but I found myself a bit stuck. My background is in the Computer Vision and Machine Learning fields but I lack the knowledge in robotics. My ...
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### How to get transformation between a camera and a CNC plotter?

I have a question about robot and camera calibration. I have experience to calibrate btw 6DOF robot arm and hand-eye camera. But this time I should use a machine like CNC plotter. This machine can ...
1 vote
190 views

### What is the baseline of a RGBD camera?

I'm looking at some ORB SLAM2 settings where there's a parameter for "IR projector baseline times fx". Could someone here explain what exactly is the baseline of an IR projector? Is it the distance ...
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### solving for unknown 2d rotation + translation

This is a continuation of the question I asked here. I thought I'll ask a more concrete question. So far, this is what I have done to transform from a feature point detected by camera sensor in to a ...
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