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<big>Commence the Stuff</big>
{{collapse top| Hand-eye calibration problem}}▼
==Hand-eye calibration problem==
▲{{collapse top| Hand-eye calibration problem}}
In robotics, the '''hand-eye calibration problem''', or the '''robot-sensor calibration problem''', is the problem of determining the transformation between a robot [[end-effector]] and a camera or the transformation between a robot base and the world coordinate system.<ref>[https://arxiv.org/abs/1907.12425] </ref> It takes the form of AX=ZB, where A and B are two systems, usually a robot base and a camera, and X and Z are unknown transformation matrices. A highly studied special case of the problem occurs where X=Z, taking the form of the problem AX=XB. Solutions to the problem take the forms of several types of methods, including "separable closed-form solutions, simultaneous closed-form solutions, and iterative solutions".<ref>[https://www.nist.gov/publications/overview-robot-sensor-calibration-methods-evaluation-perception-systems?pub_id=910651]</ref> The covariance of X in the equation can be calculated for any randomly perturbed matrices A and B.<ref>https://arxiv.org/pdf/1706.03498.pdf</ref>
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