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The hand-eye calibration data which is synchronized for computation
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The hand-eye calibration data

This data corresponds to the Case 1 in the following reference.


Dr. Yuxiang Sun

Mr. Jin Wu


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


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