The paper presents a simple and efficient method of calibration for a camera-on-hand system, where the internal and external parameters of a 2D camera as well as the hand-eye parameters are simultaneously calibrated. The method is based on the 3D-to-2D projections of a calibrationblock with minimum two pure translations and two pure rotations of hand motions. Being evaluated on simulation data and real robot vision system indicate that our method can work stably with different noise and number of stations. |
