Eye-to-Hand calibration in industrial robotics

1

Hi everyone,

I’m working on an Eye-to-Hand calibration using a 6-DOF robot and a fixed external camera (infrared marker tracking system).

For each acquisition, I have a synchronized pose pair:

  • bTt: Pose of the robot TCP in the robot base frame (Euler XYZ angles in degrees + position). I convert this into a 3×3 rotation matrix and a translation vector.
  • cTt: Pose of the TCP in the camera frame, given as a 3×3 rotation matrix and a translation vector.

03.06.2025, 21_43 Microsoft Lens
03.06.2025, 21_43 Microsoft Lens2351×1538 87.5 KB

I have collected 5 such pose pairs (I can collect as many pairs as I want)

I want to compute the homogeneous transformation bTc (i.e., the pose of the camera in the robot base frame).

My question:
Can I use calibrateHandEye() or an other function to perform this computation using my data ?

Thanks!