Evaluation of calibration and localization methods for visually guided grasping

This paper concerns computer vision dedicated to autonomous manipulation tasks. A 6 d.o.f. manipulator is provided with a wrist mounted camera; the grasping task on a priori known objects must provide the best accuracy for the object position in the gripper. A “Look and Move” strategy is proposed to move the gripper towards the optimal grasping position. We try to evaluate the accuracy for the global operation; the different sources of error (camera calibration, hand-eye calibration and object localization) are identified and measured by specific experiments, in order to minimize the final error in the gripper position with respect to the object