  Hand-eye calibration of laser profile sensors is the process of extracting
the homogeneous transformation between the laser profile sensor frame and the
end-effector frame of a robot in order to express the data extracted by the
sensor in the robot's global coordinate system. For laser profile scanners this
is a challenging procedure, as they provide data only in two dimensions and
state-of-the-art calibration procedures require the use of specialised
calibration targets. This paper presents a novel method to extract the
translation-part of the hand-eye calibration matrix with rotation-part known a
priori in a target-agnostic way. Our methodology is applicable to any 2D image
or 3D object as a calibration target and can also be performed in situ in the
final application. The method is experimentally validated on a real
robot-sensor setup with 2D and 3D targets.
