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Data from: Solving the Robot-World Hand-Eye(s) Calibration Problem with Iterative Methods

Published by Agricultural Research Service | Department of Agriculture | Catalog Last Checked: May 05, 2026 at 11:40 PM | Dataset Last Updated: November 21, 2025
These datasets were generated for calibrating robot-camera systems. In an extension, we also considered the problem of calibrating robots with more than one camera. These datasets are provided as a companion to the paper "Solving the Robot-World Hand-Eye(s) Calibration Problem with Iterative Methods" by Amy Tabb and Khalil M. Ahmad Yousef. Included are eight datasets in zipped files, numbered DS1.zip, DS2.zip, etc. Explanations of the format of the datasets is provided in the README resource in the file "README_input_format.txt". Generally, each zipped folder consists of images and a text file of robot positions when those images were acquired. Open source code can be found at: https://github.com/amy-tabb/RWHEC-Tabb-AhmadYousef We also include the results of using our code on one of the datasets so that you can be sure that the code worked correctly. This folder is named DS1_write.zip and can be found in the resource titled "Output from running methods on Dataset 1". Problems/Comments/Bugs should be addressed to amy.tabb@ars.usda.gov Resources in this dataset:Resource Title: README. File Name: README_input_format.txt.txtResource Description: This file gives an in-depth description of the image and robot position datasets.Resource Title: Dataset 1. File Name: DS1.zipResource Title: Dataset 2. File Name: DS2.zipResource Title: Dataset 3. File Name: DS3.zipResource Title: Dataset 4. File Name: DS4.zipResource Title: Dataset 5. File Name: DS5.zipResource Title: Dataset 6. File Name: DS6.zipResource Title: Dataset 7. File Name: DS7.zipResource Title: Dataset 8. File Name: DS8.zipResource Title: Output from running methods on Datatset 1. File Name: DS1_write.zip

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Complete Metadata
@type dcat:Dataset
accessLevel public
bureauCode 
[
  "005:18"
]
contactPoint 
{
  "fn": "Tabb, Amy",
  "hasEmail": "mailto:amy.tabb@ars.usda.gov"
}
description <p>These datasets were generated for calibrating robot-camera systems. In an extension, we also considered the problem of calibrating robots with more than one camera. </p> <p>These datasets are provided as a companion to the paper "Solving the Robot-World Hand-Eye(s) Calibration Problem with Iterative Methods" by Amy Tabb and Khalil M. Ahmad Yousef.</p> <p>Included are eight datasets in zipped files, numbered DS1.zip, DS2.zip, etc.</p> <p>Explanations of the format of the datasets is provided in the README resource in the file "README_input_format.txt". Generally, each zipped folder consists of images and a text file of robot positions when those images were acquired.</p> <p>Open source code can be found at: <a href="https://github.com/amy-tabb/RWHEC-Tabb-AhmadYousef">https://github.com/amy-tabb/RWHEC-Tabb-AhmadYousef</a></p> <p>We also include the results of using our code on one of the datasets so that you can be sure that the code worked correctly. This folder is named DS1_write.zip and can be found in the resource titled "Output from running methods on Dataset 1".</p> <p>Problems/Comments/Bugs should be addressed to amy.tabb@ars.usda.gov </p><div><br>Resources in this dataset:</div><br><ul><li><p>Resource Title: README.</p> <p>File Name: README_input_format.txt.txt</p><p>Resource Description: This file gives an in-depth description of the image and robot position datasets.</p></li><br><li><p>Resource Title: Dataset 1.</p> <p>File Name: DS1.zip</p></li><br><li><p>Resource Title: Dataset 2.</p> <p>File Name: DS2.zip</p></li><br><li><p>Resource Title: Dataset 3.</p> <p>File Name: DS3.zip</p></li><br><li><p>Resource Title: Dataset 4.</p> <p>File Name: DS4.zip</p></li><br><li><p>Resource Title: Dataset 5.</p> <p>File Name: DS5.zip</p></li><br><li><p>Resource Title: Dataset 6.</p> <p>File Name: DS6.zip</p></li><br><li><p>Resource Title: Dataset 7.</p> <p>File Name: DS7.zip</p></li><br><li><p>Resource Title: Dataset 8.</p> <p>File Name: DS8.zip</p></li><br><li><p>Resource Title: Output from running methods on Datatset 1.</p> <p>File Name: DS1_write.zip</p></li></ul><p></p>
distribution 
[
  {
    "@type": "dcat:Distribution",
    "title": "README_input_format.txt.txt",
    "format": "txt",
    "mediaType": "text/plain",
    "downloadURL": "https://ndownloader.figshare.com/files/44531192"
  },
  {
    "@type": "dcat:Distribution",
    "title": "DS1.zip",
    "format": "zip",
    "mediaType": "application/zip",
    "downloadURL": "https://ndownloader.figshare.com/files/44531195"
  },
  {
    "@type": "dcat:Distribution",
    "title": "DS2.zip",
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    "mediaType": "application/zip",
    "downloadURL": "https://ndownloader.figshare.com/files/44531198"
  },
  {
    "@type": "dcat:Distribution",
    "title": "DS3.zip",
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  },
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    "mediaType": "application/zip",
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  },
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    "mediaType": "application/zip",
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  },
  {
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    "title": "DS6.zip",
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  },
  {
    "@type": "dcat:Distribution",
    "title": "DS7.zip",
    "format": "zip",
    "mediaType": "application/zip",
    "downloadURL": "https://ndownloader.figshare.com/files/44531216"
  },
  {
    "@type": "dcat:Distribution",
    "title": "DS8.zip",
    "format": "zip",
    "mediaType": "application/zip",
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  },
  {
    "@type": "dcat:Distribution",
    "title": "DS1_write_0.zip",
    "format": "zip",
    "mediaType": "application/zip",
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  }
]
identifier 10.15482/USDA.ADC/1340592
keyword 
[
  "ARS",
  "NP305",
  "calibration",
  "computer vision",
  "data.gov",
  "reconstruction",
  "robotics"
]
license https://www.usa.gov/publicdomain/label/1.0/
modified 2025-11-21
programCode 
[
  "005:040"
]
publisher 
{
  "name": "Agricultural Research Service",
  "@type": "org:Organization"
}
spatial 
"{"type": "Point", "coordinates": [-77.87, 39.35]}"
temporal 2014-01-02/2015-11-30
title Data from: Solving the Robot-World Hand-Eye(s) Calibration Problem with Iterative Methods

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