Additional experiments for the paper: Automatic self-contained calibration of an industrial dual-arm robot with cameras using self-contact, planar constraints, and self-observation http://karlastepanova.cz/publications/self-calibration-industry/)
To get further insight related to how would our calibration approaches work on more stable setup (same pose set), we performed additional analysis on the existing data as follows. Data collected for the planar contact for the upper horizontal plane and the lower grid of points for the self-contact dataset are located at very similar locations in space. Therefore, we compared how the individual approaches (self-touch, planar contact, self-observation, and their combination) work if calibrated on this subdataset. We evaluated the results again on the independent Leica dataset. The results show similar behavior as presented in the article – self-touch achieves better results than a single plane. Self-observation leads to higher errors.
