A comparative review of hand-eye calibration techniques for vision guided robots

Ikenna Enebuse, Mathias Foo, Babul Salam Ksm Kader Ibrahim, Hafiz Ahmed, Fhon Supmak, Odongo Steven Eyobu

    Research output: Contribution to journalArticlepeer-review

    28 Citations (Scopus)
    123 Downloads (Pure)


    Hand-eye calibration enables proper perception of the environment in which a vision guided robot operates. Additionally, it enables the mapping of the scene in the robots frame. Proper hand-eye calibration is crucial when sub-millimetre perceptual accuracy is needed. For example, in robot assisted surgery, a poorly calibrated robot would cause damage to surrounding vital tissues and organs, endangering the life of a patient. A lot of research has gone into ways of accurately calibrating the hand-eye system of a robot with different levels of success, challenges, resource requirements and complexities. As such, academics and industrial practitioners are faced with the challenge of choosing which algorithm meets the implementation requirements based on the identified constraints. This review aims to give a general overview of the strengths and weaknesses of different hand-eye calibration algorithms available to academics and industrial practitioners to make an informed design decision, as well as incite possible areas of research based on the identified challenges. We also discuss different calibration targets, which is an important part of the calibration process that is often overlooked in the design process.

    Original languageEnglish
    Article number9512030
    Pages (from-to)113143-113155
    Number of pages13
    JournalIEEE Access
    Early online date12 Aug 2021
    Publication statusPublished - 2021

    Bibliographical note

    Funding Information:
    The work of Hafiz Ahmed was supported by the Sêr Cymru programme by Welsh European Funding Office (WEFO) through the European Regional Development Fund (ERDF).

    Publisher Copyright:
    © 2013 IEEE.


    • Calibration target
    • camera-world transform
    • computer vision
    • hand-eye calibration
    • robot-hand transform
    • rotation
    • translation
    • vision guided robot

    ASJC Scopus subject areas

    • Computer Science(all)
    • Materials Science(all)
    • Engineering(all)


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