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absolute position error actively illuminated angle ASAL Automated Structural Assembly beam splitter bench test results camera and light candidate target blobs candidate triangles CCD camera centroids commercially available constraints digital image processing eliminate end-effector fingers equations focusable reflectors gray level guidance system guide the robot homogeneous transformation identify IEEE image processing system joint receptacle targets Langley Research Center light assembly light source lights with focusable machine vision system measured range motion base NASA optical axis optical bench test parameters passive target mounted perspective projection pinhole camera model pixels in diameter Pixx pose estimation algorithm primary leg Processed image processor radians range value region of interest remaining blobs retroreflective robot arm robot end-effector rotation shown in figure shown in sketch sketch F slope Structural Assembly Laboratory strut installation target model taught points telerobotic three-dimensional space triangle with vertices vertices at blobs video signal vision system hardware X-axis