眼在手上和固定眼，都可轉化爲AX = XB問題的求解；自動化標定；
Shiu Y C, Ahmad S. Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations
of the form AX=XB[J]. IEEE Transactions on Robotics & Automation, 1989, 5(1):16-29.
Calibration and Registration Techniques for Robotics：http://math.loyola.edu/~mili/Calibration/index.html 提供了一些求解AX=XB方程的matlab程序。
參考：
機器人手眼標定Ax=xB（eye to hand和eye in hand）及平面九點法標定
https://blog.csdn.net/yaked/article/details/77161160