Simultaneous Kinematics and Robot-World-Hand-Eye Calibration of an Industrial Robot Using a 3D CameraČerne, Miha (Avtor) Perš, Janez (Mentor) Peters, Arne (Komentor) calibrationoptimization3D computer visionindustrial robotIndustrial 3D cameras are limited by their measuring range. We expand it by attaching the camera to a robot wrist. However, this setup introduces unknown flange-camera and world-base transformations we determine using Robot-World-Hand-Eye (RWHE) calibration. Each robot joint also adds an error we compensate with robot kinematics (RK) calibration. In this thesis, we present a simultaneous RK+RWHE calibration procedure for a 3D camera on an industrial robot. To parametrize the system, we used the modified complete and parametrically continuous (MCPC) model. We use a bundle adjustment approach to find calibrated parameters, which minimize the distance between known point locations and detected calibration points. The calibration points lie on a ChArUco board and we present a robust method to extract them. We evaluate results of calibration for simultaneous RK+RWHE, optimization-based RWHE and two traditional RWHE methods for different numbers of calibration poses. Using the 3D camera as a reference and a leave-one-out approach, we found that RK+RWHE calibration halves the average error of RWHE methods. We show that RK+RWHE methods require >18 (RWHE >12) samples for good results, plateauing at >42 samples (RWHE >18). Qualitative results confirm good point cloud alignement, highlighting the need of RK+RWHE calibration for high-precision 3D reconstruction of scenes much larger than the camera measuring range.20222022-10-19 10:05:00Magistrsko delo/naloga142077sl