The Position and Orientation Measurement of Gondola Using a Visual Camera

The research of automation and robotics in building construction industry could improve working conditions through applications which create safety hazards for humans. In this paper, we propose an approach to sense a gondola robot system using a vision camera. To control a gondola safely and accurately, some parameters should be measured such as translation in X, Y and Z axis and rotation (Euler angles) of the gondola. Our approach conducts this operation with inexpensive and easy-to-maintain system.