Optimization of hand-to-camera calibration using geometrical interpretation of matrix equation AX = XB

The paper investigates the hand-to-camera calibration which requires the solution of a set or simultaneous matrix equations in the rorm AX = XB. This problem is common in cases in which a manipulator moves a camera (or a sensor) Lo measure the poses of objects. T he geometrical interpretation or t he equation suggests the best poses from which to collect data for an optimized hand-to-camera calibraLion Lo minimize the estimation error. Conditions for optimal poses location are highlighted and a new quality index Q is proposed to represent the quality of the choice. After both a review of the problem using resulLs from Lhe literature and a theoretical introduction, a numerical case is presented to clarify and to validate the methodology.