Hand–eye calibration problem

Robotics problem on coordinating two parts of a robot

In robotics and mathematics, the hand–eye calibration problem is the problem of determining the transformation between a robot end-effector and a sensor or sensors or between a robot base and the world coordinate system. It is conceptually analogous to biological hand–eye coordination. 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.

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