Determining robot location by cylindrical object shapes

Abstract

A fast single-view approach to determining the robot location by using a known-radius cylindrical object is proposed. In the approach, no prerequisite intrinsic camera parameters are imposed, and only 3-D vector algebra is used in calculating the robot location. Therefore, alignment error can be avoided, the time of location determination is ̃0.3 s, and the measurement error is less than 3% on average.