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