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.