Hand-eye camera calibration with an optical tracking system

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

8 Citations (Scopus)


This paper presents a method for hand-eye camera calibration via an optical tracking system (OTS) faciltating robotic applications. The camera pose cannot be directly tracked via the OTS. Because of this, a transformation matrix between a marker-plate pose, tracked via the OTS, and the camera pose needs to be estimated. To this end, we evaluate two different approaches for hand-eye calibration. In the first approach, the camera is in a fixed position and a 2D calibration plate is displaced. In the second approach, the camera is also fixed, but now a 3D calibration object is moved. The first step of our method consists of collecting N views of the marker-plate pose and the calibration plates, acquired via OTS. This is achieved by keeping the camera fixed and moving the calibration plate, while taking a picture of the calibration plate using the camera. A dataset is constructed that contains marker-plate poses and the relative camera poses. Afterwards, the transformation matrix is then computed, following a least-squares minimization. Accuracy in hand-eye calibration is computed in terms of re-projection error, calculated based on camera homography transformations. For both approaches, we measure the changes in accuracy as a function of the number of poses used for each calibration, while we define the minimum number of poses required to obtain a good camera calibration. Results of the experiments show similar performances for the two evaluated methods, achieving a median value of the re-projection error at N = 25 poses of 0.76 mm for the 2D calibration plate and 0.70 mm for the 3D calibration object. Also, we have found that minimally 15 poses are required to achieve a good camera calibration.

Original languageEnglish
Title of host publicationProceedings of the 12th International Conference on Distributed Smart Cameras, ICDSC 2018
Place of PublicationNew York
PublisherAssociation for Computing Machinery, Inc
Number of pages6
ISBN (Electronic)978-1-4503-6511-6
Publication statusPublished - 3 Sep 2018
Event12th International Conference on Distributed Smart Cameras, ICDSC 2018 - Eindhoven, Netherlands
Duration: 3 Sep 20184 Sep 2018


Conference12th International Conference on Distributed Smart Cameras, ICDSC 2018


  • Augmented reality
  • Endoscope
  • Hand-eye calibration
  • Neurosurgery
  • Optical tracking system
  • Tracking


Dive into the research topics of 'Hand-eye camera calibration with an optical tracking system'. Together they form a unique fingerprint.

Cite this