Research Article

3D Reconstruction of End-Effector in Autonomous Positioning Process Using Depth Imaging Device

Table 4

Coordinate mapping of EEC.

Frames (F) ⁢Coordinates (pixel/mm)
()
(pixel)

(mm)

(mm)

(mm)

1(0, 0)000
2(508.4553, 149.0902)211.5−205.5818
3(509.6101, 150.4026)216.4−201.9818
4(510.5211, 151.8155)215.8−199.2819
5(511.7326, 154.8328)213.1−196.9821
6(517.1071, 155.5721)215.0−194.6822
7(516.2842, 153.7535)216.4−188.9823
8(512.8059, 162.4985)215.8−187.8820
9(515.8507, 157.8256)213.1−185.3820
10(517.8562, 167.0576)221.2−182.7820
11(518.5200, 170.5581)221.2−177.3819
12(517.8046, 172.1101)222.2−174.5818
13(518.7650, 174.1318)221.9−173.1816
14(520.5103, 176.8343)221.4−170.4820
15(516.6733, 177.7260)222.4−167.8818
16(516.5375, 178.9579)219.1−165.1818
17(517.3276, 183.5082)219.1−159.7820
18(516.6664, 184.1815)214.9−158.3820
19(515.8422, 183.4009)216.3−157.1818
20(518.1490, 188.9494)210.8−154.4818
21(516.7696, 193.0880)212.2−151.8820
22(516.4275, 194.7317)214.2−146.3818
23(514.9372, 196.9299)208.2−143.7820
24(515.4128, 200.1725)209.6−142.3818
25(516.3984, 203.2776)212.9−139.6816
26(514.6664, 203.9622)211.5−132.8816
27(515.3714, 208.1466)216.4−130.2815
28(514.3249, 209.6533)215.8−127.4813
29(513.2491, 214.3007)213.1−124.7809
30(519.5372, 214.9963)217.8−122.1805
31(519.6129, 217.2171)217.0−116.7805
32(511.5682, 220.1829)210.8−114.2803
33(520.2266, 222.1736)212.2−111.5803
34(519.8394, 224.4393)223.1−110.2801
35(518.6933, 226.3423)221.7−107.5801
36(518.2638, 228.8997)221.6−104.9801
37(521.0255, 232.5297)225.7−99.5801
38(518.5646, 234.5279)221.5−97.0801
39(519.1914, 236.7338)222.9−94.3801
40(516.9438, 238.1292)219.3−92.0803
41(519.1306, 240.7258)223.4−89.2803
42(517.4656, 241.7497)221.2−88.2805
43(517.3734, 244.1388)221.2−84.2805
44(517.4305, 247.5676)222.2−80.6809
45(516.0781, 249.6231)221.9−78.3813
46(516.8702, 253.1202)221.4−72.6811
47(515.9355, 254.5369)220.0−71.5811
48(515.6318, 257.4846)220.5−67.6813
49(516.2515, 259.7152)222.4−65.1815
50(515.8500, 261.7526)221.3−62.5816
51(515.4668, 265.0079)221.3−57.1816
52(516.9849, 267.5525)222.4−54.3815
53(514.6148, 268.7528)219.1−52.9813
54(514.1781, 270.8958)219.1−50.2813
55(511.7849, 272.8321)214.9−47.6813
56(512.3674, 274.2286)216.3−44.9813
57(513.0664, 278.0799)217.8−39.5813
58(513.4077, 279.9725)217.8−38.1813
59(511.8389, 280.8945)215.0−36.9813
60(512.3725, 276.9616)216.4−34.2813
61(511.8123, 285.3395)215.8−30.2816
62(509.4354, 287.7515)213.1−27.6816
63(512.0752, 291.5637)217.8−22.1818
64(511.1836, 293.4690)217.0−19.5820
65(507.0845, 292.9423)210.8−20.9818
66(508.7903, 294.5573)212.2−18.2818
67(509.1120, 299.4822)214.2−11.4820
68(505.7227, 301.1344)208.2−8.8818
69(506.8830, 303.1554)209.6−6.0818
70(508.0559, 305.9869)212.9−3.2820
71(507.6709, 305.8390)211.5−3.1820
72(509.1354, 305.9515)210.3−3.2823
73(508.1354, 306.3515)212.8−3.3823