A new robotic hand/eye calibration method by active viewing of a checkerboard pattern

The authors report on the development of a robotic hand/eye calibration method which is simpler than conventional methods which require a complicated implementation of camera calibration. The optical axis of the camera, together with the transformation between the target coordinate system and the world coordinate system are found by using active movement of the camera. Camera calibration using a two-plane model is performed. The image processing techniques required for these two steps are developed. The implementation of the camera calibration using the two-plane model and the image processing techniques indicate the efficiency and simplicity of the proposed hand/eye calibration method. Experimental results are reported