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Methods for simultaneous robot-world-hand–eye calibration: A comparative study

Research output: Contribution to journalArticleScientificpeer-review


Original languageEnglish
Article number2837
JournalSensors (Switzerland)
Issue number12
Publication statusPublished - 2 Jun 2019
Publication typeA1 Journal article-refereed


In this paper, we propose two novel methods for robot-world-hand-eye calibration and provide a comparative analysis against six state-of-the-art methods. We examine the calibration problem from two alternative geometrical interpretations, called 'hand-eye' and 'robot-world-hand-eye', respectively. The study analyses the effects of specifying the objective function as pose error or reprojection error minimization problem. We provide three real and three simulated datasets with rendered images as part of the study. In addition, we propose a robotic arm error modeling approach to be used along with the simulated datasets for generating a realistic response. The tests on simulated data are performed in both ideal cases and with pseudo-realistic robotic arm pose and visual noise. Our methods show significant improvement and robustness on many metrics in various scenarios compared to state-of-the-art methods.


  • Hand-eye calibration, Optimization, Robot-world-hand-eye calibration

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