Computer-vision based estimation of the position of a robot in its working environment

摘要

A computer vision technique designed to estimate the position and orientation of a robot manipulator in its working environment is presented. The manipulator is expected to execute live-line maintenance tasks. The position and orientation are obtained from the segmentation of two grey-level images, of the scene taken from a single point of view, and from a priori knowledge of the scene. Experimental results are presented and the method is evaluated on the basis of accuracy and speed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>