The hand-eye calibration data

This data corresponds to the Case 1 in the following reference.

Contributors

Dr. Yuxiang Sun http://eeyxsun.people.ust.hk/

Mr. Jin Wu http://www.jinwu.science

Usage

There are 224 images along with the poses from robotic base to the end-effector. The users can first obtain the intrinsic paramters of the camera by method from Zhengyou Zhang 2000 and then compute the camera-chessboard transformation by PnP.

Miscellaneous

The distance between two checkerboard squares in row or column is 30mm.

Reference

Wu, J., Sun, Y., Wang, M., Liu*, M. (2019) Hand-eye Calibration: 4D Procrustes Analysis Approach. IEEE Trans. Instrum. Meas.

Code

The MATLAB codes can be downloaded on https://github.com/zarathustr/hand_eye_SO4

Video

https://youtu.be/vr78pEbBn2w