sdusxw/laserhandeyecalibration

Line Laser Scanner Hand-Eye Calibration

The MATLAB codes show the implementation of a Hand-Eye calibration for line laser scanners based on Tsai and some of his . The code computes homogeneous transformation of a laser scanner frame w.r.t a robot tool frame (aka hand-eye calibration).

The coordinate frames for the calibration problem are shown below.

The calibration has been done on the known size block similar to the one below.

The process is to capture the XYZ coordinate of the object points at multiple robot poses (6DoF) with the XYZ coordinates at the camera/measurement frame.

See main_uEpsCalib.m for details. It is quite straight forward to follow I hope.