Machine Vision and Applications

, Volume 10, Issue 3, pp 136–143 | Cite as

Robotic hand-eye coordination: new solutions with uncalibrated stereo cameras

  • Ming Xie


This paper presents new and simple solutions to the important problem of robotic hand-eye coordination. Although this problem can be easily solved with precisely calibrated 3D vision system, one question still remains, that is: can this problem be solved with 2D information contained in images without doing any metric measurement with a 3D vision system? Here, we present two new feasible solutions which are both simple (in the sense that a constant mapping matrix is being generated) and practical (in the sense that it works with both simulation and real system).

Key words: Hand-eye coordination – Mapping matrix – Projective reconstruction – Cartesian frame approximation 


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Copyright information

© Springer-Verlag Berlin Heidelberg 1997

Authors and Affiliations

  • Ming Xie
    • 1
  1. 1. School of Mechanical & Production Engineering, Nanyang Technological University, Singapore 639798 email: SG

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