Hand eye calibration problem

rdf:langString Hand eye calibration problem

rdf:langString In robotics and mathematics, the hand eye calibration problem (also called the robot-sensor or robot-world calibration problem) is the problem of determining the transformation between a robot end-effector and a sensor or sensors (camera or laser scanner) or between a robot base and the world coordinate system. It takes the form of AX=ZB, where A and B are two systems, usually a robot base and a camera, and X and Z are unknown transformation matrices. A highly studied special case of the problem occurs where X=Z, taking the form of the problem AX=XB. Solutions to the problem take the forms of several types of methods, including separable closed-form solutions, simultaneous closed-form solutions, and iterative solutions. The covariance of X in the equation can be calculated for any randomly perturbed matrices A and B. The problem is an important part of robot calibration, with efficiency and accuracy of the solutions determining the speed accuracy of the calibrations of robots.