Multi-robot Cooperative Object Attitude Measurement in Disturbance Environment

Binocular vision is widely used in industry robot especially for precise measurement of gesture of objects. In order to solve the gesture measurement problem for the binocular vision base industry robot, this paper proposes a weighting based algorithm, which can optimize the gesture measurement precision by balancing the distance and axes between workpiece and the cameras. Simulations show that the proposed method has much better performance than the classic algorithm. The measurement precision can be improved more than 51%. Furthermore, the calibration error and feature extraction error is discussed.