{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,20]],"date-time":"2026-05-20T16:52:08Z","timestamp":1779295928148,"version":"3.51.4"},"reference-count":122,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"DOI":"10.13039\/501100008530","name":"S\u00ear Cymru programme byWelsh European Funding Office (WEFO) through the European Regional Development Fund","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100008530","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Access"],"published-print":{"date-parts":[[2021]]},"DOI":"10.1109\/access.2021.3104514","type":"journal-article","created":{"date-parts":[[2021,8,12]],"date-time":"2021-08-12T20:03:59Z","timestamp":1628798639000},"page":"113143-113155","source":"Crossref","is-referenced-by-count":126,"title":["A Comparative Review of Hand-Eye Calibration Techniques for Vision Guided Robots"],"prefix":"10.1109","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6694-8924","authenticated-orcid":false,"given":"Ikenna","family":"Enebuse","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1400-2659","authenticated-orcid":false,"given":"Mathias","family":"Foo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Babul Salam Ksm Kader","family":"Ibrahim","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8952-4190","authenticated-orcid":false,"given":"Hafiz","family":"Ahmed","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fhon","family":"Supmak","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6729-5478","authenticated-orcid":false,"given":"Odongo Steven","family":"Eyobu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1177\/027836499101000305"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/70.326576"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/70.88014"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2945635"},{"key":"ref31","first-page":"3354","article-title":"Review on camera calibration","author":"qi","year":"2010","journal-title":"Proc Chin Control Decis Conf"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3045598"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/70.34770"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600307"},{"key":"ref35","author":"faugeras","year":"1993","journal-title":"Three-Dimensional Computer Vision A Geometric Viewpoint"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2017.2781698"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICCAS.2013.6703958"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICCRE.2018.8376424"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.23919\/ICCAS.2017.8204265"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/APWCCSE.2014.7053853"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2920511"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3019659"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2858809"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3037540"},{"key":"ref101","first-page":"137","article-title":"The control of a robot end-effector using photogrammetry","volume":"33","author":"clarke","year":"2000","journal-title":"Int Arch Photogramm Remote Sens"},{"key":"ref26","first-page":"1","article-title":"3D vision systems for industrial bin-picking applications","author":"pochyly","year":"2012","journal-title":"Proc IEEE Int Conf Mechatron"},{"key":"ref100","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00863"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/CERMA.2007.4367701"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1088\/1742-6596\/1087\/5\/052009"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3021313"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2016.06.002"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/IM.1999.805374"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/ICPR.1996.546041"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.1991.139677"},{"key":"ref55","first-page":"3316","article-title":"Eight-space quaternion approach for robotic hand-eye calibration","author":"lu","year":"1995","journal-title":"Proc IEEE Int Conf Syst Man Cybern Intell Syst 21st Century"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2861905"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1631\/jzus.A0820318"},{"key":"ref52","first-page":"6","volume":"21","author":"gantmacher","year":"1959","journal-title":"Matrix Theory"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/70.660864"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3023894"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2919656"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3000329"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2018.2843811"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2868066"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759387"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1108\/01445151011016073"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2942526"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915598850"},{"key":"ref45","first-page":"504","article-title":"Extrinsic calibration from per-sensor egomotion","author":"brookshire","year":"2013","journal-title":"Robotics Science and Systems VIII"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067372"},{"key":"ref47","doi-asserted-by":"crossref","DOI":"10.7551\/mitpress\/9481.003.0010","article-title":"Automatic calibration of multiple coplanar sensors","volume":"33","author":"brookshire","year":"2012","journal-title":"Robotics Science and Systems VII"},{"key":"ref42","first-page":"3497","article-title":"Structure-from-motion based hand-eye calibration using $\\text{L}\\infty$ minimization","author":"heller","year":"2011","journal-title":"Proc IEEE Conf Comput Vis Pattern Recognit (CVPR)"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1016\/0895-7177(96)00115-X"},{"key":"ref44","first-page":"4365","article-title":"New probabilistic approaches to the AX=XB hand-eye calibration without correspondence","author":"ma","year":"2016","journal-title":"Proc IEEE Int Conf Robot Autom (ICRA)"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-40020-9_77"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/CSA.2015.46"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126266"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.16"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1109\/ISM46123.2019.00021"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2893612"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1134\/S0006350919020064"},{"key":"ref74","first-page":"357","article-title":"Combining Kinect and PnP for camera pose estimation","author":"zhang","year":"2015","journal-title":"Proc 8th Int Conf Hum Syst Interact (HSI)"},{"key":"ref75","year":"2021","journal-title":"Thermobot Autonomous Robotic System for Thermo-Graphic Detection of Cracks"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2945545"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/CCWC47524.2020.9031137"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/CoDIT.2019.8820336"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907313"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.807530"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1016\/j.patrec.2018.08.023"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1007\/s11548-017-1646-x"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2019.2930710"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.282250"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087124"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1109\/SOLI.2014.6960735"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.compag.2015.11.021"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3026108"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1504\/IJATM.2020.108586"},{"key":"ref109","first-page":"426","article-title":"Development of high-precise hand-eye calibration software system","author":"yang","year":"2008","journal-title":"Proc 27th Chin Control Conf"},{"key":"ref95","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.1999.786974"},{"key":"ref108","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2800088"},{"key":"ref94","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.1997.609468"},{"key":"ref107","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2015.2506663"},{"key":"ref93","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.1999.791289"},{"key":"ref106","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-19335-4_38"},{"key":"ref92","year":"2021","journal-title":"Perspective and Nonlinear Distortion Calibration"},{"key":"ref105","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2858744"},{"key":"ref91","doi-asserted-by":"publisher","DOI":"10.1016\/j.patrec.2006.12.008"},{"key":"ref104","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2967685"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.1016\/S0031-3203(01)00126-1"},{"key":"ref103","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2020.2987657"},{"key":"ref102","doi-asserted-by":"publisher","DOI":"10.1016\/0360-3016(85)90046-X"},{"key":"ref111","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2999927"},{"key":"ref112","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631412"},{"key":"ref110","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.1983.4788164"},{"key":"ref98","year":"2021","journal-title":"Camera Calibration Using a Circle Grid"},{"key":"ref99","volume":"5","author":"jain","year":"1995","journal-title":"Machine Vision"},{"key":"ref96","first-page":"323","article-title":"A versatile camera calibration technique for high accuracy 3D machine vision metrology","volume":"5","author":"gao","year":"1987","journal-title":"Mech Sci Technol"},{"key":"ref97","first-page":"3224","article-title":"Recognition of corners of planar checkboard calibration pattern image","author":"wang","year":"2010","journal-title":"Proc Chin Control Decis Conf"},{"key":"ref10","year":"2021","journal-title":"International Federation of Robotics IFR"},{"key":"ref11","first-page":"152","article-title":"3D vision-based control on an industrial robot","author":"saedan","year":"2001","journal-title":"Proc IASTED Int Conf Robot Appl"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.5772\/9285"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1016\/S0262-8856(02)00152-X"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/CRC.2018.00014"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICAMechS.2014.6911599"},{"key":"ref118","doi-asserted-by":"publisher","DOI":"10.1109\/ICCA.2019.8899696"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2913421"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1007\/s13042-018-00908-z"},{"key":"ref117","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2679902"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICCA.2011.6138014"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2018.07.327"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3048053"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.3390\/act10040085"},{"key":"ref119","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2018.02.009"},{"key":"ref19","year":"2021","journal-title":"2D Vision-Guided Robotics"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2020.12.1976"},{"key":"ref114","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/2405134"},{"key":"ref113","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2936496"},{"key":"ref116","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511996504"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2891957"},{"key":"ref115","doi-asserted-by":"publisher","DOI":"10.1109\/ICIT.2012.6209986"},{"key":"ref120","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2017.2773127"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1016\/j.jhydrol.2012.10.019"},{"key":"ref121","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363627"},{"key":"ref122","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3016525"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1109\/ICAETR.2014.7012785"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1109\/ASICON.2017.8252654"},{"key":"ref87","author":"chaturvedi","year":"2008","journal-title":"Soft Computing Studies in Computational Intelligence"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.1109\/INTELCIS.2017.8260032"}],"container-title":["IEEE Access"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/6287639\/9312710\/09512030.pdf?arnumber=9512030","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,11,7]],"date-time":"2023-11-07T08:49:19Z","timestamp":1699346959000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9512030\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021]]},"references-count":122,"URL":"https:\/\/doi.org\/10.1109\/access.2021.3104514","relation":{},"ISSN":["2169-3536"],"issn-type":[{"value":"2169-3536","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021]]}}}