I have been reading about hand eye calibration for a couple days. Basically, I have 2 setups I want to execute hand eye calibration.
- Camera is fixed in a position and arm is moving (eye on base);
- Camera is fixed to the robot wrist (eye on hand).
I have read Tsai's paper and a lot of other documents and read some similar question posted here (Hand Eye Calibration)
I also, have found some libraries that I can achieve this with ROS.
- easy_handeye: https://github.com/IFL-CAMP/easy_handeye
- handeye_calib_camodocal: https://github.com/jhu-lcsr/handeye_calib_camodocal
I believe that both hand-eye setups I described before can be solved with formulation AX=XB (since easy_handeye solves this way). Furthermore, I believe that setup 2 (eye-on-hand) is the classic problem for AX=XB. However, I cannot understand how to model the problem in order to solve for setup 1 (eye-on-base). Also, I cannot understand the difference between AX=XB and AX=ZB (which sometimes is written as AX=YB).
This is a more theoretical question, but I like to understand the theory before start using any tool, otherwise I will have some technical debt that can generate problems in the future. If someone can explain to me or provide material to clarify these points, I will be very grateful.