Measurement of Position and Orientation of a Parallel 6-DOF Electrohydraulic Servo Platform Based on Stereo Vision

This paper describes the theory and implementation of a system that determines position and orientation of a parallel 6-DOF electrohydraulic servo platform, or a 6-DOF platform for short, in a reference coordinate system called the world coordinate system. The idea is based on stereo vision. While the 6-DOF platform is moving, the system tracks observable feature points that are fixed on it. With visual information from two free-standing cameras, the positions of feature points could be determined and the position and orientation of the 6-DOF platform will also be derived.