RGR-3D: simple, cheap detection of 6-DOF pose for teleoperation, and robot programming and calibration

It is a remarkable challenge to know the pose of an object in all six dimensions of X, Y, Z and pitch, roll and yaw. Conventional measurement (metrology) systems include: mechanical metrology systems; stereo optical systems, particularly with active LED beacons; and laser interferometry systems. In this paper a simple, low-cost method for determining pose in space is presented. The method is based on interpreting moire patterns generated by a passive target and acquired with a conventional digital camera. Experiments carried out on a Fanuc S-10 robot are reported.