According to DIN EN ISO 8373 (industrial robot dictionary), the pose is the combination of position and orientation in three-dimensional space . The position of a point mass in relation to a Cartesian coordinate system is accordingly defined by the distances along the coordinate directions x, y, z. If a second Cartesian coordinate system is set up at this mass point, the orientation of this coordinate system is defined by the angular offset of its coordinate axes in relation to the corresponding axes of the basic coordinate system. There are therefore also three angles necessary that describe the position of the new coordinate system in relation to the base coordinate system.
Determination of the pose
The pose of a camera can be determined from known positions of markers in space and in the image. Conversely, from markers that z. B. are attached to a robot, the position of the end effector can be determined with the help of a camera. This method is also used for robot calibration .
One way to provide the transformation between the coordinate systems is, with the aid of aircraft principal axes (English roll-pitch-yaw angle). In addition, there are various other conventions such as B. the cardan and Euler angles or "axis of rotation & angle".
- Dag Ewering: Model-based tracking using line and point correlations . September 2006 ( hbz-nrw.de [PDF; 9.5 MB ; accessed on August 2, 2007]).