# Roboreg: Marker-free hand-eye calibration

**URL:** <https://discourse.openrobotics.org/t/roboreg-marker-free-hand-eye-calibration/50729>\
**Category:** Projects\
**Created:** [October 28, 2025, 9:32am UTC](https://discourse.openrobotics.org/t/roboreg-marker-free-hand-eye-calibration/50729 "2025-10-28T09:32:56Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![mhubii](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mhubii/32/20368_2.png) [@mhubii](https://discourse.openrobotics.org/u/mhubii)\
**Post date:** [October 28, 2025, 9:32am UTC](https://discourse.openrobotics.org/t/roboreg-marker-free-hand-eye-calibration/50729/1 "2025-10-28T09:32:57Z")

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Dear ROS Community,

Let me announce `roboreg` and `ROS 2 roboreg` 🙂:

`roboreg`: [github.com/lbr-stack/roboreg](https://github.com/lbr-stack/roboreg)  
`ROS 2 roboreg`: [github.com/lbr-stack/ros2\_roboreg](https://github.com/lbr-stack/ros2_roboreg)

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

![thumbnail](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/d/2/d2b328a7b221d2e0d44388d023011630ff43e53f.gif)

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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.

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# Installation

1. `pip`-wheels:

2. ROS 2 integration:

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# Other Links

Hydra algorithm on arXiv: [arxiv.org/abs/2504.20584](https://www.arxiv.org/abs/2504.20584)  
Full demo video: [youtu.be/YO2zS\_d\_VTk](https://youtu.be/YO2zS_d_VTk)

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# License

Everything is released under `Apache License 2.0`.

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