The method involves calculating a projective invariant shape descriptor from two images consequently obtained through a camera mounted on a robot hand for extracting corresponding points between the images. A rotation matrix and translation vector is calculated for the points from a rotation and translation of the robot. A relation between the hand and camera are found based on the matrix and vector. An Independent claim is also included for a computer readable medium with a program of a method for performing a hand/eye calibration.
Robot hand/charged coupled device camera eye calibration method, involves calculating projective invariant shape descriptor from two images obtained through camera mounted on hand for extracting corresponding points between images