DRHeC: Differentiable Rendering for Hand-Eye Calibration with RGB-Based Gradients

arXiv:2609.36779 · cs.RO, cs.CV, cs.GR · Submitted 2026-09-29 · Read on arXiv

cs.RO, cs.CV, cs.GR

Submitted: 2026-09-29

Updated: 2026-09-29

Journal ref: IEEE Transactions on Instrumentation and Measurement, vol. 75, Art. no. 7505816, pp. 1-16, 2026

DOI: 10.1109/TIM.2026.3712913

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Calibration — 143× in this paper · explained in 7 episodes
• Accuracy — 33× in this paper · explained in 1 episode
• Consistency — 16× in this paper · explained in 3 episodes
• Alignment — 14× in this paper · explained in 1 episode
• Ablation — 13× in this paper · explained in 1 episode
• Robustness — 13× in this paper · explained in 5 episodes
• Ablation study — 11× in this paper · explained in 1 episode
• Loss Function — 11× in this paper · explained in 2 episodes
• Ground Truth — 5× in this paper
• Adam — 4× in this paper · explained in 2 episodes
• Diffusion Model — 2× in this paper · explained in 8 episodes
• Diffusion Models — 2× in this paper · explained in 6 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• International Conference on Robotics and Automation — 2× in this paper
• Actor — 1× in this paper · explained in 3 episodes
• Adaptability — 1× in this paper · explained in 1 episode
• Angular Error — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Contrastive Learning — 1× in this paper · explained in 5 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• European Conference on Computer Vision — 1× in this paper
• Feature Extraction — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Gaussian Splatting — 1× in this paper · explained in 4 episodes
• Generative Adversarial Networks (GANs) — 1× in this paper · explained in 3 episodes
• Gradient Flow — 1× in this paper · explained in 2 episodes
• Interpretability — 1× in this paper · explained in 15 episodes
• Mask Generation — 1× in this paper · explained in 2 episodes
• Quantization — 1× in this paper · explained in 12 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Segmentation Masks — 1× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes

Sources

• Conditional Generative Adversarial Nets
• Denoising Diffusion Implicit Models
• Adam: A Method for Stochastic Optimization
• Segment Anything

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