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

Abstract.

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).