Solving the Robot World/Hand Eye Calibration Problem Using the Kronecker Product

Abstract

This paper constructs a separable closedform solution to the robotworld/handeye calibration problem AX = YB. Qualifications and properties that determine the uniqueness of X and Y as well as error metrics that measure the accuracy of a given X and Y are given. The formulation of the solution involves the Kronecker product and the singular value decomposition. The method is compared with existing solutions on simulated data and real data. It is shown that the Kronecker method that is presented in this paper is a reliable and accurate method for solving the robotworld/handeye calibration problem.