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

- Source: 3D视觉工坊 · 微信公众号
- Published: 2026-11-05T23:00:00.000Z
- RoboHot: https://robohot.news/en/items/b3erz2n11irtdiq35sjk0l18z
- Original: https://mp.weixin.qq.com/s?__biz=MzU1MjY4MTA1MQ==&mid=2247752927&idx=1&sn=0e31989166ac46190aa1134a02bf7193&chksm=fa4e1ae5d96f19c4c99b866e1e7b9096ed16a462da31440226cb0aa3ba25d793994f4bd21773&scene=126&sessionid=1793964607#rd

## Summary

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.