中文摘要：

为了在手眼睛刻度解决形式 AX=XB 的同类的转变方程，在 X 从照相机代表未知转变到机器人手，和 A 和 B 的地方，表示分别地，与机器人手和照相机联系的已知的运动转变这篇论文介绍由最佳的旋转矩阵和最少的广场方程的评价跟随解决 X 的旋转矩阵的单个价值分解组成的一个新线性分解算法。没有 A 和 B 是有一样的旋转角度的僵硬转变的传统的方法的要求，它为 A 和 B 启用延期到非刚性的转变。我们的方法的细节被给，和试验性的结果的短讨论，证明更多的精确和坚韧性能被完成。

英文摘要：

To solve the homogeneous transformation equation ofthe form AX=XB in hand-eye calibration, where Xrepresents an unknown transformation from the camera to the robot hand, and A and B denote the known movement transformations associated with the robot hand and the camera, respectively, this paper introduces a new linear decomposition algorithm which consists of singular value decomposition followed by the estimation of the optimal rotation matrix and the least squares equation to solve the rotation matrix of X. Without the requirements of traditional methods that A and B be rigid transformations with the same rotation angle, it enables the extension to non-rigid transformations forA and B. The details of our method are given, together with a short discussion of experimental results, showing that more precision and robustness can be achieved.