A note on using only position equations for robotic hand/eye calibration

In two previous papers, we proposed an iterative algorithm for robotic hand/eye calibration. We stated that the iterative algorithm has two distinct advantages over traditional linear approaches: it is less sensitive to noise and it can calibrate the hand/eye matrix by using only relative sensor position measurements. In this correspondence, we point out that although the iterative algorithm does not require direct measurement of the sensor relative rotation, it still needs the user to provide the same amount of sensor orientation information. We also explain why the accuracy performance of the iterative algorithm was not improved by the inclusion of rotation equations