Fig. 1. Two hand eye calibration methods

Fig. 2. Schematic of eye in hand system

Fig. 3. Establishment of calibration block coordinate system

Fig. 4. Calibration block

Fig. 5. Hand eye calibration scheme

Fig. 6. Positions of the point sets in marked plane

Fig. 7. Fitting plane to determine feature points

Fig. 8. Location of optimal solution coordinate system

Fig. 9. Accuracy comparison of proposed matching algorithm and traditional matching algorithms

Fig. 10. Time complexity comparison of proposed matching algorithm and traditional matching algorithms

Fig. 11. Hand eye calibration translation error

Fig. 12. Hand eye calibration rotation error

Fig. 13. Hand eye calibration translation error under different illuminations

Fig. 14. Hand eye calibration rotation error under different illuminations