The hand-eye calibration data
This data corresponds to the Case 1 in the following reference.
Dr. Yuxiang Sun http://eeyxsun.people.ust.hk/
Mr. Jin Wu http://www.jinwu.science
There are 224 images along with the poses from robotic base to the end-effector. The users can first obtain the intrinsic paramters of the camera by method from Zhengyou Zhang 2000 and then compute the camera-chessboard transformation by PnP.
The distance between two checkerboard squares in row or column is 30mm.
Wu, J., Sun, Y., Wang, M., Liu*, M. (2019) Hand-eye Calibration: 4D Procrustes Analysis Approach. IEEE Trans. Instrum. Meas.
The MATLAB codes can be downloaded on https://github.com/zarathustr/hand_eye_SO4