Self-calibration of Hand-eye Coodinate Systems by Five Observations of an Uncalibrated Mark

Abstract

We propose a hand-eye calibration method for 3-D vision sensors by using only a mark. Main advantage of the method is safety and easy to use. It uses only a mark and needs only five observations. The method has two points; 1) A Rotation matrix and a translation vector is independently computed. 2) Each observation is integrated as much as possible. In this paper, we show problem settings, formulation of the method, observation conditions and results of performance evaluation experiments.