Updating the environment´s geometric database in telerobotics: determination of position-orientation of known objects

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