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;
Hybrid Eye-in-Hand/Eye-to-Hand Image Based Visual Servoing for Soft Continuum Arms
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3194690
Abstract: Soft continuum arms (SCAs) that are controlled by visual servoing (VS) present trade-offs between the camera range and tracking accuracy. Cameras placed at a distance (eye-to-hand) can observe a larger workspace area and the SCA… read more here.
Keywords: hand; tip camera; eye; eye hand ... See more keywords
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
Unified Attitude Determination Problem From Vector Observations and Hand–Eye Measurements
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Transactions on Aerospace and Electronic Systems"
DOI: 10.1109/taes.2020.2982482
Abstract: The hand–eye measurements have recently been proven to be very efficient for spacecraft attitude determination relative to an ellipsoidal asteroid. However, the recent method does not guarantee full attitude observability for all conditions. This article… read more here.
Keywords: vector observations; hand eye; problem; attitude determination ... See more keywords
Simultaneous Hand-Eye and Target Estimation By 2D-3D Generative Point Alignment
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2023.3342153
Abstract: Hand-eye calibration aims to relate what the camera sees to where the robot moves, which is crucial for vision-guided robot systems and has received much attention in the robotics community. The classical hand-eye calibration flow… read more here.
Keywords: point alignment; point; hand eye; calibration ... 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
Hand–Eye Parameter Estimation Based on 3-D Observation of a Single Marker
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Transactions on Instrumentation and Measurement"
DOI: 10.1109/tim.2024.3385038
Abstract: Hand–eye calibration (HEC) aims to determine the geometrical transformation between the camera and the robot, which is essential for vision-guided robotic (VGR) systems. On the one hand, the classic pose-based and the recent pixel-based HEC… read more here.
Keywords: hand; single marker; hand eye; estimation ... See more keywords