Dual-Robot Relative Pose Calibration
This section describes the Dual-Robot Relative Pose Calibration function in the Advanced Pose Transformation step and its workflow.
Function Introduction
This function calibrates spatial pose relationship between two robots, that is, computes pose of one robot in the coordinate system of the other robot. Two hardware configurations are supported:
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Single-robot camera mounting: one robot carries camera, the other carries calibration board.
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Dual-robot camera mounting: both robots carry cameras and capture the same fixed calibration board.
After calibration, relative pose between two robots is output and can be used for frame transformation and data fusion in dual-robot collaboration. Saved relative-pose relationships can be loaded and reused directly.
Workflow
Three methods are provided to obtain relative pose relationship:
Calibrate with Single-Robot Camera Mounting
Use this method when no relative pose exists yet and only one robot has a mounted camera.
Select Creation Type
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Click Configuration Wizard, open pose-transformation tool, and select Dual-Robot Relative Pose Calibration.
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Set creation type to Create Blank Relation Calculation, and set camera mounting type to Single-Robot Camera Mounting.
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Click OK to enter calibration workflow.
Calibrate Relative Pose
By default, R2 is reference frame. Camera is mounted on R1, and output is pose of R1 in R2 frame.
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Get EIH extrinsic (camera on R1).
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Enter flange pose of R1 during ETH calibration.
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Get ETH extrinsic by moving calibration board with R2 while R1 remains static.
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Compute relative pose.
EIH/ETH extrinsic acquisition supports three methods:
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Use project extrinsic (select existing project + parameter group).
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Calibrate extrinsic in 3D camera calibration tool.
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Manual input in pose editor.
After all required data are ready, click Start Calculation to compute relative pose and output result.
Set relative-pose name in basic settings. Name must be unique in current solution.
Click Apply to finish output-port configuration and save calibrated relative-pose file.
Calibrate with Dual-Robot Camera Mounting
Use this method when no relative pose exists yet and both robots have mounted cameras.
Select Creation Type
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Click Configuration Wizard, open pose-transformation tool, and select Dual-Robot Relative Pose Calibration.
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Set creation type to Create Blank Relation Calculation, and camera mounting type to Dual-Robot Camera Mounting.
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Click OK.
Calibrate Relative Pose
By default, R2 is reference frame. R1 and R2 mount cameras C1 and C2 respectively, and output is pose of R1 in R2 frame.
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Get EIH extrinsics for R1/C1 and R2/C2.
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Place calibration board in shared view of both cameras and capture board poses.
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Record flange poses of R1 and R2 at capture moments.
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Compute relative pose.
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During board-pose capture for two robots, the board must remain static. If board moves during capture, recapture required data. |
Click Start Calculation, then set relative-pose name, and click Apply to save and apply.
Reuse Existing Relative Pose
Use this method when an existing calibrated relative pose can be reused.
Select Creation Type
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Click Configuration Wizard, open pose-transformation tool, and select Dual-Robot Relative Pose Calibration.
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Set creation type to Create from Existing Relative Pose, and select an existing relationship from drop-down list.
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Click OK to load and display existing result.
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Confirm and click Apply.
Typical Application Scenario
This function is commonly used when point clouds or poses from two robots need to be unified into one robot frame.
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Calibrate or load relative pose (R1 in R2).
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Use Transform Point Clouds or Transform Poses to transform R1 data to R2 frame.
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Use Merge Point Clouds or Merge Data to fuse data for dual-robot collaboration.
