Methods for simultaneous robot-world-hand–eye calibration: A comparative study

Ihtisham Ali, Olli Suominen, Atanas Gotchev, Emilio Ruiz Morales

Research output: Contribution to journalArticleScientificpeer-review

10 Citations (Scopus)
49 Downloads (Pure)


In this paper, we propose two novel methods for robot-world-hand-eye calibration and provide a comparative analysis against six state-of-the-art methods. We examine the calibration problem from two alternative geometrical interpretations, called 'hand-eye' and 'robot-world-hand-eye', respectively. The study analyses the effects of specifying the objective function as pose error or reprojection error minimization problem. We provide three real and three simulated datasets with rendered images as part of the study. In addition, we propose a robotic arm error modeling approach to be used along with the simulated datasets for generating a realistic response. The tests on simulated data are performed in both ideal cases and with pseudo-realistic robotic arm pose and visual noise. Our methods show significant improvement and robustness on many metrics in various scenarios compared to state-of-the-art methods.

Original languageEnglish
Article number2837
JournalSensors (Switzerland)
Issue number12
Publication statusPublished - 2 Jun 2019
Publication typeA1 Journal article-refereed


  • Hand-eye calibration
  • Optimization
  • Robot-world-hand-eye calibration

Publication forum classification

  • Publication forum level 1

ASJC Scopus subject areas

  • Analytical Chemistry
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering


Dive into the research topics of 'Methods for simultaneous robot-world-hand–eye calibration: A comparative study'. Together they form a unique fingerprint.

Cite this