HCNV: Hand-Eye Calibration Based on Surface Normal Optimization and View Selection

摘要

Accurate hand-eye calibration is crucial for robotics and computer vision tasks, such as robotic manipulation and 3D object recognition, as it directly affects operational precision and visual perception. However, existing methods rely solely on point clouds and neglect geometric features like plane normals, leading to suboptimal spatial alignment. Additionally, the lack of an intelligent view selection strategy worsens initial alignment errors, causing cumulative inaccuracies and degraded performance. We propose HCNV, a novel framework that combines optimized point cloud alignment with intelligent view selection to overcome these limitations. Our method uses plane normals and a hybrid genetic algorithm to refine the point cloud transformation matrix, significantly improving spatial alignment accuracy. Furthermore, the intelligent view selection strategy enhances point cloud matching and optimizes view coverage, increasing robustness across various conditions. Experimental results show that HCNV improves calibration accuracy by 20% and reduces computational time by 30% compared to state-of-the-art methods, demonstrating its effectiveness and practicality in real-world applications.