The optical flow of high interest points in images of an
uncalibrated scene is used to recover the camera orientation of an
eye-in-hand robotic manipulator. The system is completely
automated, iteratively performing a sequence of rotations and
translations until the camera frame is aligned with the
manipulator’s world frame. The manipulator must be able to
translate and rotate its end-effector with respect to its world frame.
The system is implemented and being tested on a Stäubli RX60
manipulator using an off-the-shelf Logitech USB camera.