Absrtact: CORDIC (Coordinate Rotation Digital Computer) algorithm is the main method to realize the fast and accurate trigonometric function, and is widely used in modern engineering.
摘要：CORDIC算法是实现快速精确的正、余弦函数计算的主要方法，在工程实际中有着广泛应用。
Because the calibration method directly optimizes the camera rotation angles relative to the world coordinate system, it ensures the orthonormal constraints as well as the precise solutions.
该标定方案直接优化摄像机相对于世界坐标系的旋转角度，因此能够在获得精确解的同时，保证旋转矩阵的正交约束条件。
The method is keeping the rotation array between robot's connecting-rod 3 and robot reference coordinate constant, which can simplify the complicated hand-eye calibration and camera calibration.
该方法通过保持机器人连杆三到机器人基坐标系的旋转矩阵恒定来直接获得世界坐标，简化复杂的手眼标定和相机标定。
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