Hand-eye calibration is the problem of estimating the spatial transformation between a reference frame, usually the base of a robot arm or its gripper, and the reference frame of one or multiple cameras. Generally, this calibration is solved as a non-linear optimization problem, what instead is rarely done is to exploit the underlying graph structure of the problem itself. Actually, the problem of hand-eye calibration can be seen as an instance of the Simultaneous Localization and Mapping (SLAM) problem. Inspired by this fact, in this work we present a pose-graph approach to the hand-eye calibration problem that extends a recent state-of-the-art solution in two different ways: i) by formulating the solution to eye-on-base setups with one camera; ii) by covering multi-camera robotic setups. The proposed approach has been validated in simulation against standard hand-eye calibration methods. Moreover, a real application is shown. In both scenarios, the proposed approach overcomes all alternative methods. We release with this paper an open-source implementation of our graph-based optimization framework for multi-camera setups.
Keep It CALM: Toward Calibration-Free Kilometer-Level SLAM with Visual Geometry Foundation Models via an Assistant Eye
School of Automation and Intelligent Sensing, and Shanghai Key Laboratory of Navigation and Location Based Services, Shanghai Jiao Tong University（自动化与智能感知学院，导航与位置服务上海市重点实验室，上海交通大学）；School of Electrical Engineering and Computer Science, The University of Queensland（电气工程与计算机科学学院，昆士兰大学）；School of Computer Science and Technology, Tongji University（计算机科学与技术学院，同济大学）
PESAO: Psychophysical Experimental Setup for Active Observers
York University（约克大学）；Department of Electrical Engineering and Computer Science（电气工程与计算机科学系）
大多数过去和现在的计算机视觉研究都涉及被动观察的数据。然而，人类是实验室之外的积极观察者;他们探索，搜索，选择看什么以及如何看。尽管如此，如何准确地在人类中进行主动观察，以便它可以为主动计算机视觉系统的设计提供信息，这是一个悬而未决的问题。PESAO旨在研究3D世界中的主动视觉观察。我们的目标是建立一个实验装置，用于各种主动感知任务，其中考虑到人类受试者（主动观察者）能够跟踪头部和凝视。虽然许多研究探索人类的表现，但通常，他们使用2D描绘的线条画，没有主动观察者参与。PESAO使我们能够将许多研究带到三维世界，甚至涉及主动观察者。在我们的实例中，它跨越400 cm x 300 cm的区域，可以以120 Hz的频率跟踪活跃的观察者。此外，PESAO提供跟踪和记录6D头部运动，凝视，眼睛运动类型，第一人称视频，头戴式IMU传感器，鸟瞰视频和实验者笔记。所有这些都以微秒级的分辨率同步。
Simultaneously Calibration of Multi Hand-Eye Robot System Based on Graph
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；College of Electrical Engineering and Computer Science, Australian National University（澳大利亚国立大学电气工程与计算机科学学院）；College of Engineering, Peking University（北京大学工程学院）
In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects
Fondazione Istituto Italiano di Tecnologia（意大利理工学院基金会）；DeepMind；BMW Group（宝马集团）；Danieli Automation S.p.A.（达涅利自动化股份有限公司）；CNR-STIIMA（意大利国家研究委员会-智能工业技术与先进制造研究所）
PlaneHEC: Efficient Hand-Eye Calibration for Multi-view Robotic Arm via Any Point Cloud Plane Detection
National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University（国家人类-机器混合增强智能重点实验室，人工智能与机器人研究院，西安交通大学）
On-the-fly hand-eye calibration for the da Vinci surgical robot
Department of Mechanical Engineering, Imperial College London（帝国理工学院机械工程系）；Mechatronics in Medicine Laboratory（医学机电实验室）；Hamlyn Centre for Robotics Surgery（机器人外科哈姆林中心）
Towards Robotic Eye Surgery: Marker-free, Online Hand-eye Calibration using Optical Coherence Tomography Images
Technische Universität München（慕尼黑工业大学）；Carl Zeiss Meditec（卡尔蔡司医疗技术公司）；Sun Yat-Sen University（中山大学）；Klinikum rechts der Isar der Technische Universität München（慕尼黑工业大学 Rechts der Isar 医院）
A Certifably Correct Algorithm for Generalized Robot-World and Hand-Eye Calibration
1 Space \& Terrestrial Autonomous Robotic Systems Laboratory, University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada 2 Institute for Experiential Robotics, Northeastern University, Boston, MA, USA 3 Autonomous Robotics；Convex Optimization Laboratory, McMaster University, Hamilton, ON, Canada
Continual Hand-Eye Calibration for Open-world Robotic Manipulation
School of Automation Science and Engineering, South China University of Technology（华南理工大学自动化科学与工程学院）；State Key Laboratory of Robotics, the Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences（中国科学院机器人研究所）；University of Chinese Academy of Sciences（中国科学院大学）
Kalib: Easy Hand-Eye Calibration with Reference Point Tracking
School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University（电子信息与电气工程学院，上海交通大学）；Meta Robotics Institute, Shanghai Jiao Tong University（元机器人研究所，上海交通大学）；Qing Yuan Research Institute（青元研究院）；MoE Key Lab of Artificial Intelligence, AI Institute, Shanghai Jiao Tong University（人工智能联合重点实验室，人工智能学院，上海交通大学）
SurgCalib: Gaussian Splatting-Based Hand-Eye Calibration for Robot-Assisted Minimally Invasive Surgery
Robotics and Control Laboratory, University of British Columbia（机器人与控制实验室，不列颠哥伦比亚大学）；Department of Biomedical Engineering, National University of Singapore（生物医学工程系，新加坡国立大学）；Division of Otolaryngology – Head and Neck Surgery, University of British Columbia（耳鼻喉科–头颈外科部，不列颠哥伦比亚大学）
Semi-Autonomous Laparoscopic Robot Docking with Learned Hand-Eye Information Fusion
School of Biomedical Engineering & Imaging Sciences, King’s College London（伦敦国王学院生物医学工程与影像科学学院）；School of Mechatronical Engineering, Beijing Institute of Technology（北京理工大学机电学院）；School of Medical Technology, Beijing Institute of Technology（北京理工大学医学技术学院）
