{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:57:05Z","timestamp":1777715825324,"version":"3.51.4"},"reference-count":35,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[2001,3,1]],"date-time":"2001-03-01T00:00:00Z","timestamp":983404800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2001,3]]},"abstract":"<jats:p>In this paper, we propose a new flexible method for hand-eye calibration. The vast majority of existing hand-eye calibration techniques require a calibration rig that is used in conjunction with camera pose estimation methods. Instead, we combine structure-from-motion with known robot motions, and we show that the solution can be obtained in linear form. The latter solves for both the hand-eye parameters and the unknown scale factor inherent with structure-from-motion methods. The algebraic analysis that is made possible with such a linear formulation allows investigation of not only the well-known case of general screw motions but also of such singular motions as pure translations, pure rotations, and planar motions. In essence, the robot-mounted camera looks to an unknown rigid layout, tracks points over an image sequence, and estimates the camera-to-robot relationship. Such a self-calibration process is relevant for unmanned vehicles, robots working in remote places, and so forth. We conduct a large number of experiments that validate the quality of the method by comparing it with existing ones.<\/jats:p>","DOI":"10.1177\/02783640122067372","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"228-248","source":"Crossref","is-referenced-by-count":151,"title":["Robot Hand-Eye Calibration Using Structure-from-Motion"],"prefix":"10.1177","volume":"20","author":[{"given":"Nicolas","family":"Andreff","sequence":"first","affiliation":[{"name":"Institut Fran\u00e7ais de M\u00e9canique Avanc\u00e9e,                         BP 265, 63175 Aubi\u00e8re Cedex, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Radu","family":"Horaud","sequence":"additional","affiliation":[{"name":"INRIA Rh\u00f4ne-Alpes and GRAVIR-IMAG, 655, av. de                         l\u2019Europe, 38330 Montbonnot Saint Martin, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bernard","family":"Espiau","sequence":"additional","affiliation":[{"name":"INRIA Rh\u00f4ne-Alpes and GRAVIR-IMAG, 655, av. de                         l\u2019Europe, 38330 Montbonnot Saint Martin, France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2001,3,1]]},"reference":[{"key":"atypb1","unstructured":"Andreff, N. 1999.\n                      Asservissement visuel \u00e0 partir de droites et auto-\u00e9talonnage pince-cam\u00e9ra\n                      . 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