Method and apparatus for vision-based tool localization

A method for vision-based tool localization (VTL) in a robotic assembly system including one or more calibrated sensors and a robotic arm holding a tool, the method comprising:

• capturing a plurality of images of a tool contact area of the tool from a plurality of different vantage points;
• determining an estimated position of the tool contact area based on user input, indicating a position of the tool contact area;
• refining the estimated position of the tool contact area based on another determination from another vantage point;
• and
• providing the refined position of the tool contact area with respect to the robotic arm to the robotic assembly system to enable accurate control of the tool by the robotic assembly system.

A method for vision-based tool localization (VTL) in a robotic assembly system including one or more calibrated sensors, the method comprising:

• capturing a plurality of images of a tool contact area of a tool on a robot arm from a plurality of different vantage points;
• selecting a plurality of approaches to determine a tool contact area location;
• determining an estimated position of the tool contact area using a first approach, wherein the first approach comprises one of:
• user selection, image overlay, and space carving;
• refining the estimated position of the tool contact area with respect to the robot arm holding the tool based on a second approach, comprising a different one of:
• user selection, image overlay, and space carving;
• and
• providing the refined position of the tool contact area with respect to the robot arm to the robotic assembly system to enable accurate control of the tool by the robotic assembly system.