This 1998 paper by Fadi Dornaika and Radu Horaud introduces two novel methods for simultaneous robot-world and hand-eye calibration. These methods aim to solve a homogeneous matrix equation, using quaternion algebra and non-linear constrained minimization to solve for rotations and translations. The paper also includes a sensitivity analysis comparing these methods to a linear method developed by Zhuang et al. The non-linear optimization method is found to be the most stable against noise and measurement errors.
Publication date: 21 Nov 2023
Project Page: https://ieeexplore.ieee.org/document/704150
Paper: https://arxiv.org/pdf/2311.11818
