Computer Vision

Frank C. Park and Bryan J. Martin <Robot Sensor Calibrattion: Solving AX = XB on the Euclidean Group>

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Robot Sensor Calibration: Solving AX = XB on the Euclidean Group
Frank C. Park and Bryan J. Martin

This paper appears in: Robotics and Automation, IEEE Transactions on
Publication Date: Oct 1994
Volume: 10,  Issue: 5
On page(s): 717-721
ISSN: 1042-296X
References Cited: 8
CODEN: IRAUEZ
INSPEC Accession Number: 4803588
Digital Object Identifier: 10.1109/70.326576
Current Version Published: 2002-08-06

Abstract
The equation AX=XB on the Euclidean group arises in the problem of calibrating wrist-mounted robotic sensors. In this article the authors derive, using methods of Lie theory, a closed-form exact solution that can be visualized geometrically, and a closed-form least squares solution when A and B are measured in the presence of noise 

1994_IEEE_TRA_robot_sensor_calibration_AX=XB.pdf



http://en.wikipedia.org/wiki/Lie_group

http://en.wikipedia.org/wiki/Lie_algebra

http://en.wikipedia.org/wiki/SO(3)

http://en.wikipedia.org/wiki/SO(4)