AnchorHEC: Targetless Hand-Eye Calibration of Wrist and Fixed Cameras
Overview
This paper introduces AnchorHEC, a targetless hand-eye calibration framework for wrist and fixed cameras that uses RGB images, forward kinematics, and a shared 3D foundation model. The method initializes both camera types using FK and a shared 3D reconstruction, applies FK-constrained bundle adjustment to reduce pose and scale errors, and relaxes constraints if refinement fails or inliers are insufficient. It then triangulates metric points to estimate fixed-camera poses. Across three backbones, simulation calibration errors decrease by 86.4% in translation and 71.6% in rotation relative to reconstruction-based baselines, with validation performed on a physical robot.
Generated from attributed reports · Updated 1 hours ago
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
No current evidence-backed claims. Missing information remains not reported.
Report timeline
Follow attributed reports and material updates.
- arXiv Robotics — research abstractsSignalAnchorHEC: Targetless Hand-Eye Calibration of Wrist and Fixed Cameras
This paper introduces AnchorHEC, a targetless hand-eye calibration framework for wrist and fixed cameras that uses RGB images, forward kinematics, and a shared 3D foundation model. The method initializes both camera types using FK and a shared 3D reconstruction, applies FK-constrained bundle adjustment to reduce pose and scale errors, and relaxes constraints if refinement fails or inliers are insufficient. It then triangulates metric points to estimate fixed-camera poses. Across three backbones, simulation calibration errors decrease by 86.4% in translation and 71.6% in rotation relative to reconstruction-based baselines, with validation performed on a physical robot.
Event coverage history
There is not enough continuous observation data to show a trend.
Timezone · UTC
Article dates follow your selected timezone. Briefing editions use Hong Kong time (UTC+8).