The repeatability of today's robots is at least a magnitude better than their accuracy. A proper tool to improve accuracy provides geometric calibration which needs reliable and accurate measurement data of the actual robot. The single beam Laser Tracking System "Lux Wess" provides an excellent means to obtain these measurements. In this paper we describe the calibration of the geometry of this measurement tool, itselj-. The calibration method is cheap and flexible, no external reference measurements are needed. I n the following we describe the principles of the design of our system and shortly mention why at is superior t o other laser trackers. Then we give a description of the model and the calibration f o r three dimensional measurements. A f a r more detailed discussion of this topic can be found in [I$].

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In this article we describe a calibration procedure of a binocular camera head with two independent pan and tilt axes. For the calibration procedure itself no separate rotations of the respective axes and no fixation is required. To get reliable calibration data just a plane surface with known 2D coordinates of distinguishable target points is needed. This publication describes facts and techniques that axe known to the robotic people but mostly unknown to the computer vision society.