Research Article
Visual Localization of an Internal Inspection Robot for the Oil-Immersed Transformer
Table 5
Robot trajectory coordinates.
| Time | Translation in the world coordinate system | Rotation of camera to world coordinate system | tx | ty | tz | qx | qy | qz | qw |
| 189.000000 | −0.1369671 | −0.1500254 | −0.5803908 | 0.0149806 | −0.5032533 | 0.1879581 | 0.8433169 | 191.000000 | −0.1364136 | −0.1501418 | −0.5806609 | 0.0155979 | −0.5164054 | 0.1937663 | 0.8339885 | 192.000000 | −0.1364136 | −0.1505871 | −0.5823005 | 0.0154008 | −0.5224573 | 0.1981140 | 0.8291876 | 193.000000 | −0.1349777 | −0.1504681 | −0.5819005 | 0.0158103 | −0.5293952 | 0.2010548 | 0.8240557 | 196.000000 | −0.1217337 | −0.1564949 | −0.5938352 | 0.0128108 | −0.5457574 | 0.2140372 | 0.8100450 | 199.000000 | −0.1082227 | −0.1607452 | −0.6106782 | 0.0127889 | −0.5609802 | 0.2266808 | 0.7960864 | 200.000000 | −0.1013026 | −0.1660932 | −0.6151043 | 0.0095857 | −0.5662362 | 0.2314494 | 0.7910221 | 204.000000 | −0.0721812 | −0.1746682 | −0.6406906 | 0.0094067 | −0.5877521 | 0.2468827 | 0.7703946 | 207.000000 | −0.0239709 | −0.1925754 | −0.6715866 | 0.0039448 | −0.5989393 | 0.2570543 | 0.7584057 | 208.000000 | −0.0158377 | −0.1951312 | −0.6766809 | 0.0024216 | −0.6025855 | 0.2606056 | 0.7543007 | 209.000000 | 0.0074293 | −0.2035241 | −0.6885141 | −0.0004768 | −0.6057649 | 0.2638864 | 0.7506082 | 210.000000 | 0.0324675 | −0.2134237 | −0.7010788 | −0.0042803 | −0.6082725 | 0.2677946 | 0.7471762 | 211.000000 | 0.0523740 | −0.2196917 | −0.7121715 | −0.0064705 | −0.6113610 | 0.2710429 | 0.7434592 | 212.000000 | 0.0739813 | −0.2284881 | −0.7206520 | −0.0101452 | −0.6147486 | 0.2753150 | 0.7390419 | 214.000000 | 0.1247762 | −0.2471465 | −0.7436563 | −0.0156883 | −0.6214890 | 0.2820806 | 0.7307091 |
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