Method for calibrating a mobile robot

A method for calibrating a mobile robot, comprising:

• installing a 2D camera at an end of a mechanical arm of a mobile robot;
• 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;
• 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 of the calibration plate captured by the 2D camera at the plurality of different poses;
• calculating a transfer matrix endTcamer of the end of the mechanical arm relative to the 2D camera based on the transfer matrix of the 2D camera relative to the calibration plate at each pose of the plurality of different poses;
• and
• calculating a transfer matrix baseTobject of a base of the mechanical arm relative to the calibration plate based on the calculated transfer matrix endTcamer and the transfer matrix of the 2D camera relative to the calibration plate at each pose of the plurality of different poses.