# A Novel Camera-to-Robot Calibration Method for Vision-Based Floor Measurements

arXiv: https://arxiv.org/abs/2603.15126 · HTML: https://mlsanity.com/paper/2603.15126/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 3 of its 49 references that are in the map.
- First posted on arXiv 16 Mar 2026.

## Builds on (most cited first, 3 of 3)

- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [Review of Autonomous Mobile Robots for the Warehouse Environment](https://mlsanity.com/paper/2406.08333/) (2024)
- [Dissecting Robotics - historical overview and future perspectives](https://mlsanity.com/paper/1704.08617/) (2017)

## Built on by (most cited first, 1 of 1)

- [Laser-Tracker-Assisted Camera-to-Robot Calibration for Mobile Robots](https://mlsanity.com/paper/2609.27006/) (2026)

## Abstract (arXiv)

A novel hand-eye calibration method for ground-observing mobile robots is proposed. While cameras on mobile robots are common, they are rarely used for ground-observing measurement tasks. Laser trackers are increasingly used in robotics for precise localization. A referencing plate is designed to combine the two measurement modalities of laser-tracker 3D metrology and camera-based 2D imaging. It incorporates reflector nests for pose acquisition using a laser tracker and a camera calibration target that is observed by the robot-mounted camera. The procedure comprises estimating the plate pose, the plate-camera pose, and the robot pose, followed by computing the robot-camera transformation. Experiments indicate sub-millimeter repeatability.