Hand-Eye Calibration Using Camera’s IMU Sensor in Quadric Geometric Algebra (QGA)

In this work, a novel method to solve the hand-eye calibration problem for a camera attached to the end-effector of a robot articulation is proposed using the Geometric Algebra framework. In the proposed method, the linear acceleration and angular velocity acquired from an IMU (Inertial Measurement Unit) sensor attached to the camera is employed with the kinematic model of the robot articulation to find the relative camera position and orientation. Compared with other methods, there is no need to employ a calibration pattern or human intervention, allowing to implement the method easily while saving the computations related to the image processing.