Hydra: Marker-Free RGB-D Hand-Eye Calibration
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2504.20584v2 Announce Type: replace Abstract: This work presents an RGB-D imaging-based approach to marker-free hand-eye calibration using a novel implementation of the iterative closest point (ICP) algorithm with a robust point-to-plane (PTP) objective formulated on a Lie algebra. Its applicability is demonstrated through comprehensive experiments using three well known serial manipulators and two RGB-D cameras.