Honours Project

My Honours thesis is focused on the development and evaluation of a, vision based, tool localization system. Where Charuco boards are used to estimate the Tool Centre Point (TCP) of a Mobile Articulated Robot Arm, relative to its task.

A position filtering algorithm will likely be used to fuse the signals from multiple sensors, a Kalman filter, EKF or Particle filter for example.

Some specifics of the greater project will be omitted, due to NDA.