Abstract
A method for calibrating a mobile robot includes installing a 2D camera at an end of a mechanical arm, moving the 2D camera to a plurality of different poses by the mechanical arm, and capturing images of a calibration plate on a workbench at the plurality of different poses. The method includes calculating a transfer matrix of the 2D camera relative to the calibration plate at each pose of the plurality of different poses based on the images. A transfer matrix end T camer of the end of the mechanical arm relative to the 2D camera is calculated based on the transfer matrix of the 2D camera relative to the calibration plate, and a transfer matrix base T object of a base of the mechanical arm relative to the calibration plate is calculated based on the calculated transfer matrix end T camer and the transfer matrix of the 2D camera relative to the calibration plate.