Reproduce “SyncHeC: Markerless Spatio-Temporal Hand-Eye Calibration via Differentiable Rendering and Continuous-Time Joint Optimization” on OpenResearch
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About this paper
Zhengdong Hong
SyncHeC estimates camera pose and image–joint timing from continuous robot motion, using robot-model kinematics and rendered mask and depth evidence. On an xArm7, it reports 0.21 cm translation error and 2.7 ms nominal latency error, lower than CM-Calib. Across six policy families and tasks, timing compensation increased success by 8.11 percentage points, conditional on the policies and calibration.
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