Hand-eye-calibration

This repository reproduces the algorithm in Finding the Kinematic Base Frame of a Robot by Hand-Eye Calibration Using 3D Position Data paper link.

Introduction

Hand-eye-calibration is used to calibrate the relationship between the camera and the robotic arm. Generally, it contains Eye-in-hand and Eye-to-hand configuration. No mater what configuration is, the formulation is written as
$ AX=ZB $
Where A, B, X and Z are 4*4 matrices