Implementation of 3D Shape Matching for EV Charging Connector

A shape feature is commonly chosen for matching an object with a template model in a vision-based design. A 3D shape matching technique is presented in this work to localize an EV charging connector. To perform the matching, a 3D model of the connector is firstly created and then used as a template to compare with images captured from different camera locations. This process is carried out by placing the camera around the fixed location with a fixed pose of the connector. To evaluate an effectiveness of matching, a white and black background are used to study a robustness to illumination changes. The results display some errors from using the white and black backgrounds in the Cartesian coordinate.