Fc. Park et Bj. Martin, ROBOT SENSOR CALIBRATION - SOLVING AX=XB ON THE EUCLIDEAN GROUP, IEEE transactions on robotics and automation, 10(5), 1994, pp. 717-721
The equation AX = XB on the Euclidean group arises in the problem of c
alibrating wrist-mounted robotic sensors. In this article we derive, u
sing methods of Lie theory, a closed-form exact solution that can be v
isualized geometrically, and a closed-form least squares solution when
A and B are measured in the presence of noise.