{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,2]],"date-time":"2026-07-02T05:20:50Z","timestamp":1782969650068,"version":"3.54.5"},"reference-count":22,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2022,5,17]],"date-time":"2022-05-17T00:00:00Z","timestamp":1652745600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Key Research and Development Program of China","award":["2018YFB1305703"],"award-info":[{"award-number":["2018YFB1305703"]}]},{"name":"National Key Research and Development Program of China","award":["2020FX02"],"award-info":[{"award-number":["2020FX02"]}]},{"name":"Scientific and Technological Program of Quanzhou City","award":["2018YFB1305703"],"award-info":[{"award-number":["2018YFB1305703"]}]},{"name":"Scientific and Technological Program of Quanzhou City","award":["2020FX02"],"award-info":[{"award-number":["2020FX02"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>To solve the problem of inflexibility of offline hand\u2013eye calibration in \u201ceye-in-hand\u201d modes, an online hand\u2013eye calibration method based on the ChArUco board is proposed in this paper. Firstly, a hand\u2013eye calibration model based on the ChArUco board is established, by analyzing the mathematical model of hand\u2013eye calibration, and the image features of the ChArUco board. According to the advantages of the ChArUco board, with both the checkerboard and the ArUco marker, an online hand\u2013eye calibration algorithm based on the ChArUco board is designed. Then, the online hand\u2013eye calibration algorithm, based on the ChArUco board, is used to realize the dynamic adjustment of the hand\u2013eye position relationship. Finally, the hand\u2013eye calibration experiment is carried out to verify the accuracy of the hand\u2013eye calibration based on the ChArUco board. The robustness and accuracy of the proposed method are verified by online hand\u2013eye calibration experiments. The experimental results show that the accuracy of the online hand\u2013eye calibration method proposed in this paper is between 0.4 mm and 0.6 mm, which is almost the same as the offline hand\u2013eye calibration accuracy. The method in this paper utilizes the advantages of the ChArUco board to realize online hand\u2013eye calibration, which improves the flexibility and robustness of hand\u2013eye calibration.<\/jats:p>","DOI":"10.3390\/s22103805","type":"journal-article","created":{"date-parts":[[2022,5,17]],"date-time":"2022-05-17T08:34:29Z","timestamp":1652776469000},"page":"3805","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["Research of Online Hand\u2013Eye Calibration Method Based on ChArUco Board"],"prefix":"10.3390","volume":"22","author":[{"given":"Wenwei","family":"Lin","sequence":"first","affiliation":[{"name":"Fujian (Quanzhou)-HIT Research Institute of Engineering and Technology, Quanzhou 362000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Peidong","family":"Liang","sequence":"additional","affiliation":[{"name":"Fujian (Quanzhou)-HIT Research Institute of Engineering and Technology, Quanzhou 362000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guantai","family":"Luo","sequence":"additional","affiliation":[{"name":"Fujian (Quanzhou)-HIT Research Institute of Engineering and Technology, Quanzhou 362000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ziyang","family":"Zhao","sequence":"additional","affiliation":[{"name":"Fujian (Quanzhou)-HIT Research Institute of Engineering and Technology, Quanzhou 362000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3272-3735","authenticated-orcid":false,"given":"Chentao","family":"Zhang","sequence":"additional","affiliation":[{"name":"Fujian (Quanzhou)-HIT Research Institute of Engineering and Technology, Quanzhou 362000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2022,5,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"215","DOI":"10.1504\/IJATM.2020.108586","article-title":"Robot adoption and FDI driven transformation in the automotive industry","volume":"20","author":"Anzolin","year":"2020","journal-title":"Int. J. Automot. Technol. Manag."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"71675","DOI":"10.1109\/ACCESS.2019.2919656","article-title":"Vision system for quality assessment of robotic cleaning of fish processing plants using CNN","volume":"7","author":"Egeland","year":"2019","journal-title":"IEEE Access"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Li, C., Chen, P., Xu, X., Wang, X.Y., and Yin, A.J. (2021). A Coarse-to-Fine Method for Estimating the Axis Pose Based on 3D Point Clouds in Robotic Cylindrical Shaft-in-Hole Assembly. Sensors, 21.","DOI":"10.3390\/s21124064"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"1974","DOI":"10.1109\/TMECH.2019.2932772","article-title":"Robust insertion control for precision assembly with passive compliance combining vision and force information","volume":"24","author":"Liu","year":"2019","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"107991","DOI":"10.1016\/j.measurement.2020.107991","article-title":"A calibration strategy for vision-guided robot assembly system of large cabin","volume":"163","author":"Jiang","year":"2020","journal-title":"Measurement"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Wu, H.Y., Tizzano, W., Andersen, T.T., Andersen, N.A., and Ravn, O. (2013, January 18\u201320). Hand-Eye Calibration and Inverse Kinematics of Robot Arm using Neural Network. Proceedings of the RITA 2013: The 2nd International Conference on Robot Technology and Appliactions, Denver, CO, USA.","DOI":"10.1007\/978-3-319-05582-4_50"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Yang, L.X., Cao, Q.X., Lin, M.J., Zhang, H.R., and Ma, Z.M. (2018, January 20\u201323). Robotic hand-eye calibration with depth camera: A sphere model approach. Proceedings of the 2018 4th International Conference on Control, Automation and Robotics (ICCAR), Auckland, New Zealand.","DOI":"10.1109\/ICCAR.2018.8384652"},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Chen, Y.Y., Qin, J.H., Jiao, T.H., Zhao, Q.F., Gan, Y.Z., and Xia, Z.Y. (2019, January 4\u20139). A Simple and Generic Method for Real-time Accurate Hand-eye Calibration Using A 3D Vision Sensor. Proceedings of the 2019 IEEE International Conference on Real-Time Computing and Robotics (RCAR), Irkutsk, Russia.","DOI":"10.1109\/RCAR47638.2019.9044092"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Wang, G., Quan, W.L., Li, Y.N., Fang, S.W., Chen, H.P., and Xi, N. (2021, January 27\u201331). Fast and Accurate 3D Eye-to-hand Calibration for Large-Scale Scene based on HALCON. Proceedings of the 2021 IEEE 11th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), Jiaxing, China.","DOI":"10.1109\/CYBER53097.2021.9588160"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"345","DOI":"10.1109\/70.34770","article-title":"A new technique for fully autonomous and efficient 3 d robotics hand\/eye calibration","volume":"5","author":"Tsai","year":"1989","journal-title":"IEEE Trans. Robot. Autom."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"195","DOI":"10.1177\/027836499501400301","article-title":"Hand-eye calibration","volume":"14","author":"Horaud","year":"1995","journal-title":"Int. J. Robot. Res."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"286","DOI":"10.1177\/02783649922066213","article-title":"Hand-eye calibration using dual quaternions","volume":"18","author":"Daniilidis","year":"1999","journal-title":"Int. J. Robot. Res."},{"key":"ref_13","unstructured":"Deng, S.C., Mei, F., Yang, L., Liang, C.G., Jiang, Y.L., Yu, G.X., and Chen, Y.H. (2021, January 15\u201317). Research on the hand-eye calibration method based on monocular robot. Proceedings of the 2021 International Conference on Mechanical Engineering, Intelligent Manufacturing and Automation Technology (MEMAT), Guilin, China."},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Lee, K.H., Kim, H.S., Lee, S.J., Choo, S.W., Lee, S.M., and Nam, K.T. (2018, January 24\u201327). High precision hand-eye self-calibration for industrial robots. Proceedings of the 2018 International Conference on Electronics, Information, and Communication (ICEIC), Honolulu, HI, USA.","DOI":"10.23919\/ELINFOCOM.2018.8330661"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Huang, Y., Zhang, J., and Zhang, X. (August, January 29). Robotic grasping based on machine vision and SVM. Proceedings of the 2019 IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), Suzhou, China.","DOI":"10.1109\/CYBER46603.2019.9066460"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"128","DOI":"10.1016\/j.autcon.2015.06.002","article-title":"Vision guided autonomous robotic assembly and as-built scanning on unstructured construction sites","volume":"59","author":"Feng","year":"2015","journal-title":"Autom. Constr."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"497","DOI":"10.1002\/rob.20082","article-title":"Hand to sensor calibration: A geometrical interpretation of the matrix equation AX = XB","volume":"22","author":"Fassi","year":"2005","journal-title":"J. Robot. Syst."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"145","DOI":"10.1109\/LRA.2015.2506663","article-title":"Simultaneous hand-eye and robot-world calibration by solving the AX = XB problem without correspondence","volume":"1","author":"Li","year":"2015","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"382","DOI":"10.1016\/j.mechmachtheory.2016.06.002","article-title":"Orthogonal dual tensor method for solving the AX = XB sensor calibration problem","volume":"104","author":"Condurache","year":"2016","journal-title":"Mech. Mach. Theory"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"633","DOI":"10.1017\/S0263574797000763","article-title":"Robotic TCF and rigid-body calibration methods","volume":"15","author":"Wang","year":"1997","journal-title":"Robotica"},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Du, S., Zhang, J., and Lv, X. (2019, January 8\u201311). Automatic Analysis of Calibration Board Image Orientation for Online Hand-Eye Calibration. Proceedings of the International Conference on Intelligent Robotics and Applications, Shenyang, China.","DOI":"10.1007\/978-3-030-27541-9_47"},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Antonello, M., Gobbi, A., Michieletto, S., Ghidoni, S., and Menegatti, E. (2017, January 6\u20138). A fully automatic hand-eye calibration system. Proceedings of the 2017 European Conference on Mobile Robots (ECMR), Paris, France.","DOI":"10.1109\/ECMR.2017.8098681"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/10\/3805\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T23:13:37Z","timestamp":1760138017000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/10\/3805"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5,17]]},"references-count":22,"journal-issue":{"issue":"10","published-online":{"date-parts":[[2022,5]]}},"alternative-id":["s22103805"],"URL":"https:\/\/doi.org\/10.3390\/s22103805","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,5,17]]}}}