Described are machine vision systems and methods for simultaneous kinematic hand-eye correction. A machine vision system includes a robot or a motion stage and a camera which communicate with a control system. The control system is configured to move the robot or the motion stage to poses, and to capture image and robot joint angles or motion stage encoder counts of calibration target features for each pose. The control system is configured to obtain initial values for robot or motion stage correction parameters and determine initial values for hand-eye correction parameters on the basis of initial values, images, and joint angles or encoder counts for the robot or motion stage correction parameters. The control system is configured to determine final values for the hand-eye correction parameters and the robot or motion stage correction parameters by elaborating the hand-eye correction parameters and the robot or motion stage correction parameters to minimize a cost function.
- SIMULTANEOUS KINEMATIC AND HAND-EYE CALIBRATION