Visual Localization of an Internal Inspection Robot for the Oil-Immersed Transformer

Table 5

Robot trajectory coordinates.

Time	Translation in the world coordinate system			Rotation of camera to world coordinate system
	tx	ty	tz	qx	qy	qz	qw
189.000000	−0.1369671	−0.1500254	−0.5803908	0.0149806	−0.5032533	0.1879581	0.8433169
191.000000	−0.1364136	−0.1501418	−0.5806609	0.0155979	−0.5164054	0.1937663	0.8339885
192.000000	−0.1364136	−0.1505871	−0.5823005	0.0154008	−0.5224573	0.1981140	0.8291876
193.000000	−0.1349777	−0.1504681	−0.5819005	0.0158103	−0.5293952	0.2010548	0.8240557
196.000000	−0.1217337	−0.1564949	−0.5938352	0.0128108	−0.5457574	0.2140372	0.8100450
199.000000	−0.1082227	−0.1607452	−0.6106782	0.0127889	−0.5609802	0.2266808	0.7960864
200.000000	−0.1013026	−0.1660932	−0.6151043	0.0095857	−0.5662362	0.2314494	0.7910221
204.000000	−0.0721812	−0.1746682	−0.6406906	0.0094067	−0.5877521	0.2468827	0.7703946
207.000000	−0.0239709	−0.1925754	−0.6715866	0.0039448	−0.5989393	0.2570543	0.7584057
208.000000	−0.0158377	−0.1951312	−0.6766809	0.0024216	−0.6025855	0.2606056	0.7543007
209.000000	0.0074293	−0.2035241	−0.6885141	−0.0004768	−0.6057649	0.2638864	0.7506082
210.000000	0.0324675	−0.2134237	−0.7010788	−0.0042803	−0.6082725	0.2677946	0.7471762
211.000000	0.0523740	−0.2196917	−0.7121715	−0.0064705	−0.6113610	0.2710429	0.7434592
212.000000	0.0739813	−0.2284881	−0.7206520	−0.0101452	−0.6147486	0.2753150	0.7390419
214.000000	0.1247762	−0.2471465	−0.7436563	−0.0156883	−0.6214890	0.2820806	0.7307091