简介：Inthispaper,wepresentarobotvisionbasedsystemforcoordinatemeasurementoffeaturepointsonlargescaleautomobileparts.Oursystemconsistsofanindustrial6-DOFrobotmountedwithaCCDcameraandaPC.Thesystemcontrolstherobotintotheareaoffeaturepoints.Theimagesofmeasuringfeaturepointsareacquiredbythecameramountedontherobot.3Dpositionsofthefeaturepointsareobtainedfromamodelbasedposeestimationthatappliestotheimages.Themeasuredpositionsofallfeaturepointsarethentransformedtothereferencecoordinateoffeaturepointswhosepositionsareobtainedfromthecoordinatemeasuringmachine(CMM).Finally,thepoint-to-pointdistancesbetweenthemeasuredfeaturepointsandthereferencefeaturepointsarecalculatedandreported.Theresultsshowthattherootmeansquareerror(RMSE)ofmeasurevaluesobtainedbyoursystemislessthan0.5mm.Oursystemisadequateforautomobileassemblyandcanperformfasterthanconventionalmethods.