| cff-version: 1.2.0 | |
| message: "If you use KinHEC, please cite it as below." | |
| title: "KinHEC: Kinematic Trajectory Benchmark for Hand-Eye and Robot-World Calibration" | |
| type: dataset | |
| version: "1.0.1" | |
| date-released: "2026-09-20" | |
| license: MIT | |
| authors: | |
| - family-names: Aiersilan | |
| given-names: Aizierjiang | |
| keywords: | |
| - hand-eye calibration | |
| - robot-world calibration | |
| - AX=XB | |
| - AX=YB | |
| - robot kinematics | |
| - synthetic benchmark | |
| abstract: >- | |
| KinHEC is a large-scale synthetic benchmark of time-stamped robot flange trajectories and | |
| camera observations with complete ground truth for hand-eye (AX=XB), robot-world/hand-eye | |
| (AX=YB) and spatio-temporal calibration, generated from published manipulator kinematic | |
| models with systematic sweeps of sensor noise, motion degeneracy, temporal misalignment, | |
| outliers, monocular scale, robot model errors and image-formation realism. | |