Since traditional pose estimation methods with the features of points, lines and so on might not be applied directly to round-shape workpieces, a new pose estimation method for round-shape workpieces genetic algorithm based was proposed. Compared with previous studies, this method needs no auxiliary information, such as points, lines, concentric circles and so on. Firstly, transformation model of perspective projection of round-shape workpiece was created, and the round-shape workpiece was characterized by analytic equation. Secondly, via detecting the contour and extracting its feature of workpiece, a feature error function was established with respect to the pose angles, which was a multi-objective nonlinear function. Finally, the error function was solved by an improved genetic algorithm and the pose estimation of round-shape workpiece was achieved. The result of related experiments showed that the method had high accuracy, and to some extent inhibited the effects of noise.
