Please use this identifier to cite or link to this item:
http://hdl.handle.net/10397/104961
DC Field | Value | Language |
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dc.contributor | Department of Applied Mathematics | en_US |
dc.creator | Chen, Z | en_US |
dc.creator | Ling, C | en_US |
dc.creator | Qi, L | en_US |
dc.creator | Yan, H | en_US |
dc.date.accessioned | 2024-03-18T05:39:30Z | - |
dc.date.available | 2024-03-18T05:39:30Z | - |
dc.identifier.issn | 0022-3239 | en_US |
dc.identifier.uri | http://hdl.handle.net/10397/104961 | - |
dc.language.iso | en | en_US |
dc.publisher | Springer | en_US |
dc.rights | © The Author(s) 2024 | en_US |
dc.rights | This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/. | en_US |
dc.rights | The following publication Chen, Z., Ling, C., Qi, L. et al. A Regularization-Patching Dual Quaternion Optimization Method for Solving the Hand-Eye Calibration Problem. J Optim Theory Appl 200, 1193–1215 (2024) is available at https://doi.org/10.1007/s10957-024-02377-7. | en_US |
dc.subject | Dual quaternion optimization | en_US |
dc.subject | Hand-eye calibration | en_US |
dc.subject | Noise | en_US |
dc.subject | Patching | en_US |
dc.subject | Regularization | en_US |
dc.subject | Rotation | en_US |
dc.title | A regularization-patching dual quaternion optimization method for solving the hand-eye calibration problem | en_US |
dc.type | Journal/Magazine Article | en_US |
dc.identifier.spage | 1193 | en_US |
dc.identifier.epage | 1215 | en_US |
dc.identifier.volume | 200 | en_US |
dc.identifier.issue | 3 | en_US |
dc.identifier.doi | 10.1007/s10957-024-02377-7 | en_US |
dcterms.abstract | The hand-eye calibration problem is an important application problem in robot research. Based on the 2-norm of dual quaternion vectors, we propose a new dual quaternion optimization method for the hand-eye calibration problem. The dual quaternion optimization problem is decomposed to two quaternion optimization subproblems. The first quaternion optimization subproblem governs the rotation of the robot hand. It can be solved efficiently by the eigenvalue decomposition or singular value decomposition. If the optimal value of the first quaternion optimization subproblem is zero, then the system is rotationwise noiseless, i.e., there exists a “perfect” robot hand motion which meets all the testing poses rotationwise exactly. In this case, we apply the regularization technique for solving the second subproblem to minimize the distance of the translation. Otherwise we apply the patching technique to solve the second quaternion optimization subproblem. Then solving the second quaternion optimization subproblem turns out to be solving a quadratically constrained quadratic program. In this way, we give a complete description for the solution set of hand-eye calibration problems. This is new in the hand-eye calibration literature. The numerical results are also presented to show the efficiency of the proposed method. | en_US |
dcterms.accessRights | open access | en_US |
dcterms.bibliographicCitation | Journal of optimization theory and applications, Mar. 2024, v. 200, p. 1193-1215 | en_US |
dcterms.isPartOf | Journal of optimization theory and applications | en_US |
dcterms.issued | 2024-03 | - |
dc.identifier.scopus | 2-s2.0-85183649526 | - |
dc.identifier.eissn | 1573-2878 | en_US |
dc.description.validate | 202403 bcwh | en_US |
dc.description.oa | Version of Record | en_US |
dc.identifier.FolderNumber | OA_TA | - |
dc.description.fundingSource | Not mention | en_US |
dc.description.pubStatus | Published | en_US |
dc.description.TA | Springer Nature (2024) | en_US |
dc.description.oaCategory | TA | en_US |
Appears in Collections: | Journal/Magazine Article |
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File | Description | Size | Format | |
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s10957-024-02377-7.pdf | 674.7 kB | Adobe PDF | View/Open |
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