A computationally efficient method for hand–eye calibration
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Computer Assisted Radiology and Surgery"
DOI: 10.1007/s11548-017-1646-x
Abstract: PurposeSurgical robots with cooperative control and semiautonomous features have shown increasing clinical potential, particularly for repetitive tasks under imaging and vision guidance. Effective performance of an autonomous task requires accurate hand–eye calibration so that the… read more here.
Keywords: hand eye; method; eye calibration;
A fast and accurate new algorithm for hand–eye calibration on SO(3)×R3
Sign Up to like & getrecommendations! Published in 2021 at "Control Engineering Practice"
DOI: 10.1016/j.conengprac.2021.104726
Abstract: Abstract In this paper, we propose a new solution for an old problem in robotics related to the calibration of the hand, i.e., the robot’s end-effector, and the eye, i.e., a stereo vision camera. The… read more here.
Keywords: calibration; hand eye; eye calibration; hand ... See more keywords
Optimal robot-world and hand-eye calibration with rotation and translation coupling
Sign Up to like & getrecommendations! Published in 2022 at "Robotica"
DOI: 10.1017/s0263574721002034
Abstract: A classic hand-eye system involves hand-eye calibration and robot-world and hand-eye calibration. Insofar as hand-eye calibration can solve only hand-eye transformation, this study aims to determine the robot-world and hand-eye transformations simultaneously based on the… read more here.
Keywords: eye calibration; hand; rotation; hand eye ... See more keywords
Hand-Eye Calibration Made Easy Through a Closed-Form Two-Stage Method
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3146943
Abstract: An analysis of the existing hand-eye calibration methods reveals that most of them are far from trivial. And, what is worse, their intrinsic complexity makes it difficult to elucidate under which circumstances they fail to… read more here.
Keywords: closed form; hand eye; eye calibration;
A Spatiotemporal Hand-Eye Calibration for Trajectory Alignment in Visual(-Inertial) Odometry Evaluation
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2024.3387143
Abstract: A common prerequisite for evaluating a visual (-inertial) odometry (VO/VIO) algorithm is to align the timestamps and the reference frame of its estimated trajectory with a reference ground-truth derived from a system of superior precision,… read more here.
Keywords: hand eye; eye calibration; visual inertial; calibration ... See more keywords
Multi-Camera Hand-Eye Calibration for Human-Robot Collaboration in Industrial Robotic Workcells
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2024.3468089
Abstract: In industrial scenarios, effective human-robot collaboration relies on multi-camera systems to robustly monitor human operators despite the occlusions that typically show up in a robotic workcell. In this scenario, precise localization of the person in… read more here.
Keywords: multi camera; robot; hand eye; camera ... See more keywords
HCNV: Hand-Eye Calibration Based on Surface Normal Optimization and View Selection
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2025.3568141
Abstract: 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… read more here.
Keywords: view; hand eye; eye calibration; view selection ... See more keywords
Two-Stage Hand–Eye Calibration Based on Variance Minimization Principle
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Transactions on Instrumentation and Measurement"
DOI: 10.1109/tim.2025.3542141
Abstract: Hand-eye calibration in industrial scenarios greatly determines the efficiency and effectiveness of 3-D vision-guided robotic tasks. Most of the existing hand-eye calibration methods, however, rely on collecting large-scale point cloud samples to guarantee high measurement… read more here.
Keywords: variance minimization; hand eye; eye calibration; hand ... See more keywords
A General Approach to Hand–Eye Calibration Through the Optimization of Atomic Transformations
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2021.3062306
Abstract: This article proposes a general approach to solve the hand–eye calibration problem. The system is general since it is able to calibrate any number of cameras and, moreover, is able to simultaneously perform the calibration… read more here.
Keywords: approach; calibration; hand eye; eye calibration ... See more keywords
Accuracy evaluation of hand-eye calibration techniques for vision-guided robots
Sign Up to like & getrecommendations! Published in 2022 at "PLoS ONE"
DOI: 10.1371/journal.pone.0273261
Abstract: Hand-eye calibration is an important step in controlling a vision-guided robot in applications like part assembly, bin picking and inspection operations etc. Many methods for estimating hand-eye transformations have been proposed in literature with varying… read more here.
Keywords: hand eye; accuracy; calibration; eye calibration ... See more keywords
A novel hand-eye calibration method of picking robot based on TOF camera
Sign Up to like & getrecommendations! Published in 2023 at "Frontiers in Plant Science"
DOI: 10.3389/fpls.2022.1099033
Abstract: Aiming at the stability of hand-eye calibration in fruit picking scene, a simple hand-eye calibration method for picking robot based on optimization combined with TOF (Time of Flight) camera is proposed. This method needs to… read more here.
Keywords: eye calibration; hand; calibration; method ... See more keywords