On-line hand-eye calibration

We address the problem of hand-eye calibration of a robot mounted video camera. We derive a new linear formulation of the problem. This allows an algebraic analysis of the cases that usual approaches do not consider. We extend this new formulation into an on-line hand-eye calibration method. This method allows to get rid of the calibration object required by the standard approaches and uses unknown scenes instead. Finally, experimental results validate both methods