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In a robot mounted camera arrangement, handeye calibration estimates the rigid relationship between the robot and camera coordinate frames. Most hand-eye calibration techniques use a calibration object to estimate the relative transformation of the camera in several views of the calibration object and link these to the forward kinematics of the robot to compute the hand-eye transformation. Such approaches achieve good accuracy for general use but for applications such as robotic assisteddoi:10.1109/iros.2016.7759387 dblp:conf/iros/PachtrachaiAPHS16 fatcat:ruuzhuu6jvggnohx4q44bymb4i