noloǵıa (CICYT) and by project IT-5/90 of the Diputación General de Aragón (CONAI). LOCATING 3D FEATURES WITH A CAMERA IN HAND

Abstract. This paper presents a procedure to obtain the 3D localization of straight edges from images taken by a camera-in-hand of a robot. Although location of polyhedral objects can be obtained from points, there are some advantages when using edges. We present two methods to compute the localization of edges, directly using the information of their projections in the image. One of them requires the identification of a tip and five degrees of freedom of the object are determined. The other do not require point identification, but only four degrees of freedom are obtained