High-flexibility and high-precision are required in large-scale measurement for advanced manufacture. A robot-laser scanner system, which inherits the good flexibility of industrial robot and high accuracy of laser scanner, is a research focus recently. To obtain high measurement accuracy, hand-eye calibration is essential for this system. A novel two-step method, including primary calibration and optimization calibration, is proposed to calibrate the hand-eye of the measurement system. The primary calibration method is based on laser tracker and a well-designed tetrahedron, which can avoid the effect resulted from the parameter errors of industrial robot. Additionally, an optimizing calibration method by transforming the hand-eye calibration result into SE(3) is proposed to calculated the mean value of multiple primary calibration results, aiming to improve the calibration accuracy. Finally, a comparative experiment is conducted to verify the feasibility and accuracy of optimizing calibration method. It was found that comparing to the typical hand-eye calibration method, the optimizing method improves the mean repeat measurement accuracy by 23.4%, and the absolute measurement accuracy is also improved, with max/mean accuracy of 0.222mm/0.178mm.
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