A certifiably correct algorithm for generalized robot-world and hand-eye calibration

Emmett Wise, Pushyami Kaveti, Qilong Cheng, Wenhao Wang, Hanumant Singh, Jonathan Kelly, David M. Rosen, Matthew Giamou, Terrestrial Autonomous Robotic Systems Laboratory, University of Toronto Institute for Aerospace Studies, Institute for Experiential Robotics, Northeastern University, Autonomous Robotics and Convex Optimization Laboratory, Department of Computing and Software, McMaster University

The International Journal of Robotics Research

Published online on March 09, 2026

Abstract

The International Journal of Robotics Research, Ahead of Print.
Automatic extrinsic sensor calibration is a fundamental problem for multi-sensor platforms. Reliable and general-purpose solutions should be computationally efficient, require few assumptions about the structure of the sensing environment, and demand ...