Fig. 1. Coordinate system definition and calibration of the visual system

Fig. 2. Flow chart of the proposed method

Fig. 3. Object model and measurement results. (a) Three-dimensional model and definition of coordinate system of the object; (b) pose measurement result

Fig. 4. Influence of grid size on the number of sampling points and efficiency of RANSAC

Fig. 5. Result of target point cloud segmentation

Fig. 6. Points in the gray image corresponding to the segmented target point cloud

Fig. 7. Representation of a line in a polar coordinate system

Fig. 8. Establishment of experimental environment. (a) Experimental environment; (b) targets to be measured

Fig. 9. Results of linear feature extraction. (a) Space handrail; (b) drawer handle