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Data from: Solving the Robot-World Hand-Eye(s) Calibration Problem with Iterative Methods

Robot with three cameras.

These datasets were generated for calibrating robot-camera systems. In an extension, we also considered the problem of calibrating robots with more than one camera.

These datasets are provided as a companion to the paper "Solving the Robot-World Hand-Eye(s) Calibration Problem with Iterative Methods" by Amy Tabb and Khalil M. Ahmad Yousef.

Included are eight datasets in zipped files, numbered DS1.zip, DS2.zip, etc.

Explanations of the format of the datasets is provided in the README resource in the file "README_input_format.txt". Generally, each zipped folder consists of images and a text file of robot positions when those images were acquired.

Open source code can be found at:

We also include the results of using our code on one of the datasets so that you can be sure that the code worked correctly. This folder is named DS1_write.zip and can be found in the resource titled "Output from running methods on Dataset 1".

Problems/Comments/Bugs should be addressed to amy.tabb@ars.usda.gov

Dataset Info

These fields are compatible with DCAT, an RDF vocabulary designed to facilitate interoperability between data catalogs published on the Web.
Tabb, Amy
Product Type
Temporal Coverage
Intended Use
The intended use of this dataset, and the accompanying code, is to allow others to quickly calibrate robot-camera systems using the authors' methods. The datasets may also be used to develop and test new robot-world, hand-eye calibration methods.
Use Limitations
There are no use limitations. The acquisition scale is millimeters, which may be changed by the user after reading the associated documentation to some other units.
Ag Data Commons
Contact Name
Tabb, Amy
Contact Email
Public Access Level
Primary Article

Tabb, A. & Ahmad Yousef, K. M. (2017). Solving the Robot-World Hand-Eye(s) Calibration Problem with Iterative Methods. Machine Vision and Applications 28(5-6): 569-590.

Related Article

Tabb, A. & Medeiros, H. (2017). A robotic vision system to measure tree traits, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, 2017, 6005-6012.

Related Content
Funding Source(s)
National Science Foundation
Agricultural Research Service
Dataset DOI (digital object identifier)
Program Code
005:037 - Department of Agriculture - Research and Education
Bureau Code
005:18 - Agricultural Research Service
Modified Date
Release Date
Ag Data Commons Keywords: 
  • Maps & Multimedia
  • Maps & Multimedia
  • Images (non-GIS)
National Agricultural Library Thesaurus Term: