Roboreg: Marker-free hand-eye calibration

Projects
1

Dear ROS Community,

Let me announce roboreg and ROS 2 roboreg :slight_smile::

roboreg: github.com/lbr-stack/roboreg
ROS 2 roboreg: github.com/lbr-stack/ros2_roboreg

Millimeter accurate hand-eye calibration from only 3 robot configurations, no markers. Check it out yourselves:

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Does it run on my robot with my camera? Yes!

Any ROS 2-compatible robot and any ROS 2-compatible RGB-D camera are supported. ROS 2 roboreg works with standard /robot_description, /joint_states, /camera_info, /image, and /depth topics. We tested this on the popular Intel Realsense and Stereolabs ZED devices. Both, compressed and raw topics are implemented.

Installation

  1. pip-wheels:

    pip install roboreg==0.4.6

  2. ROS 2 integration:

    git clone https://github.com/lbr-stack/ros2_roboreg.git -b ${ROS_DISTRO} src/ros2_roboreg
rosdep install --from-paths src -r -i -y
colcon build

Other Links

Hydra algorithm on arXiv: arxiv.org/abs/2504.20584
Full demo video: youtu.be/YO2zS_d_VTk

License

Everything is released under Apache License 2.0.

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