Method for updating the environment's 3D geometric database in telerobotics by determining the 3D attitude of a known object from a single camera view

The paper deals with the updating of environment's geometric database in telerobotics. It concerns the pose determination of known objects using 2D clues obtained through video images. A two step algorithm is implemented and assessed. The first step is available in case of object large motion, it is a geometric algorithm, which doesn't use redundant data; it provides a first estimate of the pose. The second step is available in case of object small motion. A linear approach is carried out to determine the pose. It allows the use of redundant data, so it improves the accuracy achieved after the first step.