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The SO(4) solution to the hand-eye calibration problem AX = XB
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README.md

The 4D Procrustes Analysis for Hand-eye Calibration

Authors: Jin Wu, Yuxiang Sun, Miaomiao Wang, Ming Liu

Reference

Wu, J., Sun, Y., Wang, M., Liu*, M. (2019) Hand-eye Calibration: 4D Procrustes Analysis Approach. IEEE Trans. Instrum. Meas.

Open Dataset

A synced sequence of camera image and poses from end-effector can be downloaded from https://github.com/zarathustr/hand_eye_data.

Video

https://youtu.be/vr78pEbBn2w

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