A computationally efficient method for hand-eye calibration.
Zhiqiang ZhangLin ZhangGuang-Zhong YangPublished in: International journal of computer assisted radiology and surgery (2017)
The proposed method was applied to determine the rigid transformation between the stereo laparoscope and the robot manipulator. Promising experimental and simulation results have shown significant convergence speed improvement to 3 iterations from larger than 30 with regard to standard optimization method, which illustrates the effectiveness and efficiency of the proposed method.