eye_in_hand眼在手上和 eye_to_hand固定眼,都可转化为AX = XB问题的求解;自动化标定;
Shiu Y C, Ahmad S. Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations
of the form AX=XB[J]. IEEE Transactions on Robotics & Automation, 1989, 5(1):16-29.
matlab程序:
Calibration and Registration Techniques for Robotics:http://math.loyola.edu/~mili/Calibration/index.html 提供了一些求解AX=XB方程的matlab程序。
C++程序:
https://github.com/zhixy/SolveAXXB
参考:
机器人手眼标定Ax=xB(eye to hand和eye in hand)及平面九点法标定
https://blog.youkuaiyun.com/yaked/article/details/77161160