Perception

Hand-Eye Calibration

Hand-eye calibration is the procedure of estimating the rigid transformation between a camera and a robot's kinematic frame, either for a camera mounted on the end-effector (eye-in-hand) or fixed in the workspace (eye-to-hand). It is classically formulated as solving the matrix equation AX = XB from paired robot and camera motions, with the Tsai-Lenz method being a standard solution.

Why it matters for physical AI

Accurate hand-eye transforms are what let a robot convert pixels into reachable 3D targets; millimeter-level calibration errors translate directly into failed grasps and insertions in real-world deployment.