A Simple Hand-Eye Calibration Method for a 3D Laser Range Sensor

Abstract

A simple and a reliable full pose (translation and orientation) calibration for a range sensor is necessary for the measurement applications of industrial robots. In this paper we present a method based on hand-eye-calibration. We estimate the parameters using the Bayesian -form iterative model, which also provides possibilities to estimate error covariances of the pose parameters. In addition to this, we can use the sensor error covariance to estimate to combined uncertainty in e.g. measurement applications.