A Simultaneous Hand-Eye Calibration Method for Hybrid Eye-in-Hand/Eye-to-Hand System

A hybrid system with both eye-in-hand and eye-to-hand configurations is often necessary for autonomous exploring equipment, such as ROVs. In order to localize objects accurately and grasp them rapidly, the relationships among the robot base, the end effector, the fixed cameras, and the cameras mounted on the end effector should be calibrated in advance. To achieve these goals, a fast calibration method is proposed in this paper, which could calibrate the hybrid camera system simultaneously. Then the feasibility and robustness of the proposed calibration method are verified by comparing it to the classical two-step method through simulations with different noise levels.