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In this paper, a new calibration method is proposed, which combines the extrinsic camera calibration and the robot hand-eye calibration. The advantage of this method is that it eliminates the errors and difficulties by solving complex equations such as AX=XB or AX=YB in traditional calibration methods. Error resources analysis and comparison with traditional methods are described in this paper. The experiment results on actual robot vision measurement system prove the validity and feasibility of this new method.