  In this paper, a self-calibration approach for eye-in-hand robots using SLAM
is considered. The goal is to calibrate the positioning of a robotic arm, with
a camera mounted on the end-effector automatically using a SLAM-based method
like Extended Kalman Filter (EKF). Given the camera intrinsic parameters and a
set of feature markers in a work-space, the camera extrinsic parameters are
approximated. An EKF based measurement model is deployed to effectively
localize the camera and compute the camera to end-effector transformation. The
proposed approach is tested on a UR5 manipulator with a depth-camera mounted on
the end-effector to validate our results.
