On vision-based robot calibration

This tutorial, which is on the subject of using hand-mounted cameras for robot calibration, focuses on the basic principles of "one-stage" methods that calibrate simultaneously the robot and the cameras and "two stage" methods that first calibrating the cameras and then calibrating the robot. Distinction is made between stereo and monocular camera systems. The papers addresses the pros and cons of the various techniques and summarizes open research issues.