A flexible method combining camera calibration and hand-eye calibration

Zijian Zhao, Ying Weng

Research output: Journal PublicationArticlepeer-review

19 Citations (Scopus)


SUMMARY We consider the conventional techniques of vision robot system calibration where camera parameters and robot hand-eye parameters are computed separately, i.e., first performing camera calibration and then carrying out hand-eye calibration based on the calibrated parameters of cameras. In this paper we propose a joint algorithm that combines the camera calibration and the hand-eye calibration together. The proposed algorithm gives the solutions of the cameras' parameters and the hand-eye parameters simultaneously by using nonlinear optimization. Both simulations and real experiments show the superiority of our algorithm. We also apply our algorithm in the real application of the robot-assisted surgical system, and very good results have been obtained.

Original languageEnglish
Pages (from-to)747-756
Number of pages10
Issue number5
Publication statusPublished - Aug 2013
Externally publishedYes


  • Camera calibration
  • Factorization
  • Hand-eye calibration
  • Homography
  • Robot system

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • General Mathematics
  • Computer Science Applications


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