Updating the environment's geometric database in telerobotics: determination of position-orientation of known objects
F. Chavand, James Ollier, Sylvie Lelandais · 2002
A method for determinating the objects' position-orientation is described in this paper. The aim of this method is to update an environment's geometric database in telerobotics. When the objects are known, we are able to determine the objects' position-orientation with images provided by the video camera. An algorithm was tested in the case of small variations of objects' position-orientation A simulation was carried out in order to test the accuracy of the algorithm. This simulation tests the limits of the algorithm's accuracy when there is a small rotation in the object's position-orientation. The resistance to noise of the algorithm was also tested. The cases of special configurations of moving objects were established.>