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A novel convenient method for hand-eye robot system calibration that includes camera calibration and hand-eye calibration is presented. In the classical robot vision system calibration, the camera calibration and the hand-eye calibration are completed separately. In this paper, we propose a joint camera calibration that integrate the camera calibration and the hand-eye calibration simultaneously. Our joint calibration algorithm based on one camera calibration and one hand-eye calibration that were proposed to solve the camera parameters and hand-eye parameters separately. The experimental results based on the monocular vision showed that our joint calibration is feasible.