Basedonphotogrammetrytechnology,anovellocalizationmethodofmicro-polishingrobot,whichisrestrictedwithincertainworkingspace,ispresentedinthispaper.Onthebasisofpinholecameramodel,anewmathematicalmodelofvisionlocalizationofautomatedpolishingrobotisestablished.Thevisionlocalizationisbasedonthedistance-constraintsoffeaturepoints.Themethodtosolvethemathematicalmodelisdiscussed.Accordingtothecharacteristicsofgrayimage,anadaptivemethodofautomaticthresholdselectionbasedonconnectedcomponentsispresented.Thecentercoordinateofthefeatureimagepointisresolvedbybilinearinterpolationgraysquareweightedalgorithm.Finally,themathematicalmodeloftestingsystemisverifiedbygloballocalizationtest.Theexperimentalresultsshowthatthevisionlocalizationsysteminworkingspacehashighprecision.
