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Zhang Zhengyou Calibration, Nine-Point Calibration, or Hand-Eye Calibration: How to Choose? Pick the Wrong Level and Accuracy Is Off from the Start

Zhang Zhengyou calibration, nine-point calibration, and hand-eye calibration are not parallel alternatives; they are progressive layers, from camera optical calibration to planar coordinate alignment to 3D cross-system pose unification. Zhang Zhengyou calibration solves only the camera intrinsic matrix and distortion coefficients and requires 15–25 calibration board images at different poses; nine-point calibration uses 9 corresponding points of robot coordinates and pixel coordinates to compute a planar hand-eye matrix, suitable for 2D sorting, loading/unloading, and placement; hand-eye calibration solves the 6-DOF pose transformation via the AX=XB equation, targeting 3D grasping and precision assembly. Selection should match the scenario; more complex is not always better.

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