Hand-Eye Calibration

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Overview

Hand-eye calibration estimates how a camera or other sensor is positioned relative to a robot, so visual measurements can guide accurate motion. Methods include solving the AX=YB geometry with Lie algebra optimization, using fiducials or external metrology, and marker-free approaches based on RGB-D point clouds or differentiable rendering. Researchers evaluate these methods in settings such as robotic manipulation, surgical instruments, ultrasound, and optical scanning, measuring transform accuracy and downstream task success. A central challenge is achieving reliable calibration with few observations and without specialized markers or trackers, while also adapting to changing scenes, viewpoints, and uncertainty.

Latest papers

CardsList

13 papers1 paper in the last four weeks, down 67% on the four weeks before. 0.0% of all new papers.

  1. ActiveAlign: Aligning Egocentric Manipulation via Active Perception

    Oct 27, 2026Ri-Zhao Qiu, Bowen Wen, Yifeng Jiang +6Real-to-Sim TransferRobotic Manipulation

    NVIDIA · UC San Diego

  2. DRHeC: Differentiable Rendering for Hand-Eye Calibration with RGB-Based Gradients

    Sep 29, 2026Xiaotian Zhang, Yusheng Wang, Naoya Kagawa +4Differentiable RenderingHand-Eye Calibration

    Department of Precision Engineering, School of Engineering, The University of Tokyo, Tokyo, Japan · Research into Artifacts, Center for Engineering (RACE), School of Engineering, The University of Tokyo, Tokyo, Japan · FA Products Business Unit, DENSO WAVE INCORPORATED, Aichi, Japan

  3. VGM-VS: Rethinking Visual Geometry Model for High-Precision Visual Servoing

    Sep 23, 2026Yimin Pan, Sen Wang, You Zhou +4Relative Pose EstimationHand-Eye Calibration

    All authors are with Agile Robots SE, Munich, Germany. · Technical University of Munich

  4. Laser-Tracker-Assisted Camera-to-Robot Calibration for Mobile Robots

    Sep 22, 2026Jan A. Rudolph, Öykü Kandemir, Markus UlrichMobile RoboticsHand-Eye Calibration

    Institute of Photogrammetry and Remote Sensing (IPF), Karlsruhe Institute of Technology (KIT), Englerstr. 7, 76131 Karlsruhe, Germany

  5. Tracker-Free Robotic Ultrasound Calibration with a Spherical-Marker Phantom and Threshold-Free Center Localization

    Sep 18, 2026Kyoungmo Koo, Guangshen Ma, Xueding Wang +1Robotic UltrasoundHand-Eye Calibration

    Department of Robotics, University of Michigan, 2505 Hayward St, Ann Arbor, MI 48109, USA · Department of Biomedical Engineering, University of Michigan, 1150 Medical Center Dr, Ann Arbor, MI 48109, USA · Department of Ophthalmology and Visual Sciences, University of Michigan Medical School, 1000 Wall St, Ann Arbor, MI 48105, USA

  6. From Fixed to Free Cameras: Calibration-Free View-Robust Vision-Language-Action Model

    Jul 6, 2026Wenhao Li, Xueying Jiang, Quanhao Qian +4Language-Conditioned Robot ManipulationHand-Eye Calibration

    1Nanyang Technological University · 2DAMO Academy, Alibaba Group · 3HuPan Lab +1

  7. Robotic Arm-Based Spectral Sensing for Strawberry Positioning and Non-Destructive Sweetness Measurement

    Jun 26, 2026Yi Yang, Mark Cardamis, Wen HuHand-Eye CalibrationRobotic Manipulation

  8. Optimal Uncertainty-Aware Calibration for the AX=YB Problem

    May 6, 2026Yanjia Chen, Xiangfei Li, Huan Zhao +4Hand-Eye CalibrationRobotics

    State Key Laboratory of Intelligent Manufacturing Equipment and Technology and the School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China.

  9. Continual Hand-Eye Calibration for Open-world Robotic Manipulation

    Apr 17, 2026Fazeng Li, Gan Sun, Chenxi Liu +3Hand-Eye CalibrationCamera Pose Estimation

    School of Automation Science and Engineering, South China University of Technology, Guangzhou 510641, China · State Key Laboratory of Robotics, the Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China · University of Chinese Academy of Sciences, Beijing 100049, China

  10. 6D Robotic OCT Scanning of Curved Tissue Surfaces

    Mar 23, 2026Suresh Guttikonda, Maximilian Neidhardt, Vidas Raudonis +1Hand-Eye CalibrationOptical Coherence Tomography

    Institute of Medical Technology and Intelligent Sys., Hamburg University of Technology, Germany · Interdisciplinary Competence Center for Interface Research, Hamburg, Germany · SustAInLivWork Center of Excellence, Kaunas, Lithuania +1

  11. A Novel Camera-to-Robot Calibration Method for Vision-Based Floor Measurements

    Mar 16, 2026Jan Andre Rudolph, Dennis Haitz, Markus UlrichHand-Eye CalibrationCamera Calibration

    Machine Vision Metrology Lab, Institute of Photogrammetry and Remote Sensing, Karlsruhe Institute of Technology, Germany

  12. SurgCalib: Gaussian Splatting-Based Hand-Eye Calibration for Robot-Assisted Minimally Invasive Surgery

    Mar 9, 2026Zijian Wu, Shuojue Yang, Yu Chung Lee +3Hand-Eye CalibrationSurgical Robotics

    Robotics and Control Laboratory, University of British Columbia, Vancouver, BC, Canada · Department of Biomedical Engineering, National University of Singapore, Singapore · Division of Otolaryngology – Head and Neck Surgery, University of British Columbia, Vancouver, BC, Canada

  13. Hydra: Marker-Free RGB-D Hand-Eye Calibration

    Apr 29, 2025Martin Huber, Huanyu Tian, Christopher E. Mower +4Hand-Eye CalibrationRobotics

    School of Biomedical Engineering & Imaging Sciences, King’s College London, London, UK · Noah’s Ark Lab, Huawei, London, UK · independent contributor