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: https://github.com/amy-tabb/RWHEC-Tabb-AhmadYousef

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

• Resource Title: README.

  File Name: README_input_format.txt.txt

  Resource Description: This file gives an in-depth description of the image and robot position datasets.




• Resource Title: Dataset 1.

  File Name: DS1.zip




• Resource Title: Dataset 2.

  File Name: DS2.zip




• Resource Title: Dataset 3.

  File Name: DS3.zip




• Resource Title: Dataset 4.

  File Name: DS4.zip




• Resource Title: Dataset 5.

  File Name: DS5.zip




• Resource Title: Dataset 6.

  File Name: DS6.zip




• Resource Title: Dataset 7.

  File Name: DS7.zip




• Resource Title: Dataset 8.

  File Name: DS8.zip




• Resource Title: Output from running methods on Datatset 1.

  File Name: DS1_write.zip