Perception
Extrinsic Calibration
Extrinsic Calibration is the estimation of the rigid-body transform, rotation and translation, between the coordinate frames of two devices, such as camera-to-robot-base, camera-to-camera, or LiDAR-to-IMU. Camera-to-arm calibration is the classical hand-eye problem, formulated as AX = XB and solved from paired motions while observing a target such as a checkerboard or AprilTag board. Errors in extrinsics translate directly into Cartesian task errors.
Why it matters for physical AI
Visuomotor policies silently bake camera extrinsics into their weights, so a bumped camera can break a trained policy; calibration accuracy and recalibration workflows are recurring operational concerns for deployed manipulation.
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