6DOF calibration of a camera with respect to the wrist of a 5-axis machine tool

  • Stephen Blake
Motion and Calibration
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1296)


Computer vision systems are being used to guide machine tools fitted with wrist-mounted cameras. The vision system must measure the coordinates of objects with respect to the machine tool world reference frame. Therefore, the system must be calibrated by measuring the coordinates of the camera with respect to the wrist of the machine tool.

The paper shows that the geometry of the camera views—that one is forced to use in practice—cause the calibration problem to be near rank-deficient. The writer thinks that this is the cause of inaccuracy in existing practical work in this area. The paper gives a closed-form solution of the calibration problem which handles the rank-deficiency. The results of the first real tests are reported.


Machine Tool Target Object Null Space Geometric Algebra Rotation Vector 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 1997

Authors and Affiliations

  • Stephen Blake
    • 1
  1. 1.Machine Tool Vision Ltd.BlackburnEngland

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