This repository contains a code described in the paper "Adjoint Transformation Algorithm for Hand–Eye Calibration with Applications in Robotic Assisted Surgery". The main hand-eye calibration script is stored in HandEye_ST.m. The script takes the relative motion of the camera and the robot as input.
If you use this code as a part of your research, please cite the following:
@Article{Pachtrachai2018,
author="Pachtrachai, K. and Vasconcelos, F. and Chadebecq, F. and Allan, M. and Hailes, S. and Pawar, V. and Stoyanov, D.",
title="Adjoint Transformation Algorithm for Hand--Eye Calibration with Applications in Robotic Assisted Surgery",
journal="Annals of Biomedical Engineering",
year="2018",
month="Oct",
day="01",
volume="46",
number="10",
pages="1606--1620",
issn="1573-9686",
}