Camera Intrinsic Calibration and Hand-Eye Calibration in Pybullet

This repository is mainly for camera intrinsic calibration and hand-eye calibration.

Synthetic experiments are conducted in PyBullet simulator.

1. Test the accuracy of aruco board

python aruco_sim_test.py

2. Calibrate the camera

python chessboard_sim_test.py

3. Hand-eye calibration

python hand_eye_calibration_sim_test.py

Note

1 All .obj files in assets folder are generated by CoppeliaSim.

2 The implementations of aruco detection and camera intrinsic calibration are based on OpenCV.

3 The implementation of hand-eye calibration is based on "Hand-Eye Calibration Using Dual Quaternions" by Konstantinos Daniilidis and "Robust Hand-Eye Calibration of an Endoscopic Surgery Robot Using Dual Quaternions" by Jochen Schmidt et al.

4 Some useful links are listed below:

How to decide on which ArUco marker dictionary you want to use?

Chessboard Generator

A brief introduction of hand-eye calibration by TUM