Content deleted Content added
m minor paragraphing |
|||
Line 20:
===The AX=XB case===
The matrix equation {{math|AX{{=}}XB}}, where {{math|X}} is unknown, has an infinitive number of solutions that can be easily studied by a geometrical approach.<ref> Irene Fassi, Giovanni Legnani [https://doi.org/10.1002/rob.20082 "Hand to sensor calibration: A geometrical interpretation of the matrix equation AX =XB."] Journal of Robotic Systems, 28 July 2005</ref> To find {{math|X}} it is necessary to consider a simultaneus set of 2 equations {{math|A<sub>1</sub>X{{=}}XB<sub>1</sub>}} and {{math|A<sub>2</sub>X{{=}}XB<sub>2</sub>}}; the matrices {{math|A<sub>1</sub>, A<sub>2</sub>, B<sub>1</sub>, B<sub>2</sub>}} have to be dermined by experiments to be performed in an optimized way.
<ref> Giovanni Legnani. [https://doi.org/10.2316/Journal.206.2018.1.206-4974 "Optimization of hand-to-camera calibration using geometrical interpretation of matrix equation AX = XB." ] International Journal of Robotics and Automation - January 2018. </ref>
| |||