In hand–eye calibration, what is typically solved for?

• A. The transform between the camera and the robot base frame
• B. The transform between the camera and the environment
• C. The transform between the camera and the robot end-effector
• D. The camera intrinsic parameters

Answer: (C)

Hand–eye calibration determines the fixed rigid transform between the camera frame and the robot’s end-effector frame. In practice, you move the robot and observe the same calibration target with the camera, comparing the end-effector’s motion in the robot’s base frame to the camera’s motion in its own frame. Solving for that constant transform gives you how the camera is attached to the hand, i.e., the pose of the camera relative to the end-effector (or vice versa, depending on convention). This link lets you translate image measurements into robot coordinates for precise manipulation. Camera intrinsics are handled separately, and calibrating to the environment is a different process.