The relative pose transformation among several sensors in mobile robots has a certain impact on the pose estimation of the robot. The traditional hand-eye calibration works out the matrix transformation relationship between the camera coordinate system and the robot end effector or its base coordinate system. As for the household sweeping robot, which use monocular camera for localization and mapping. A novel method is proposed calibrating the chassis odometry and the top-view camera. First, we

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... get chassis poses from wheel encoder and camera poses from Perspective-n-Point(PnP).Then we use two types of poses to solve the formula we build which is similar to hand-eye calibration. We make some tests to ensure this method is feasible.