@TechReport{Heller-TR-2010-25,
  IS = { zkontrolovano 11 Apr 2011 },
  UPDATE  = { 2011-04-11 },
 author =       {Heller, Jan and Havlena, Michal and Sugimoto, Akihiro and Pajdla, Tom{\'a}{\v s}},
 title =        {Structure-from-Motion Based Hand-Eye Calibration Using
                 L-infty Minimization},
 institution =  {Center for Machine Perception, K13133 FEE Czech Technical
                 University},
 address =      {Prague, Czech Republic},
 year =         {2010},
 month =        {December},
 type =         {Research Report},
 number =       {CTU--CMP--2010--25},
 issn =         {1213-2365},
 pages =        {14},
 figures =      {4},
 authorship =   {25-25-25-25},
 project =      {FP7-SPACE-218814 PRoVisG, SGS10/277/OHK3/3T/13, International
    internship program of the National Institute of Informatics
    (Tokyo, Japan), Framework of Memorandum of Understanding between
    the Czech Technical University and National Institute of
    Informatics},
 annote =       {This paper presents a novel method for so-called
    hand-eye calibration. Using a calibration target is not possible
    for many applications of hand-eye calibration. In such situations
    Structure-from-Motion approach of hand-eye calibration is commonly
    used to recover the camera poses up to scaling. The presented
    method takes advantage of recent results in the L-infty-norm
    optimization using Second-Order Cone Programming (SOCP) to recover
    the correct scale. Further, the correctly scaled displacement of
    the hand-eye transformation is recovered solely from the image
    correspondences and robot measurements, and is guaranteed to be
    globally optimal with respect to the L-infty-norm. The method
    is experimentally validated using both synthetic and real world
    datasets.},
 keywords =     {hand-eye calibration, structure from motion},
 comment =      {Confidential. Prosim o prideleni cisla za rok 2010.},
}