Figure 1 from Automatic calibration of a robot manipulator and multi 3D camera system | Semantic Scholar
GitHub - jhu-lcsr/handeye_calib_camodocal: Easy to use and accurate hand eye calibration which has been working reliably for years (2016-present) with kinect, kinectv2, rgbd cameras, optical trackers, and several robots including the ur5
Understanding the importance of 3D hand-eye calibration