# 3D Vision Guided Robotic Charging Station for Electric and Plug-in Hybrid Vehicles

arXiv: https://arxiv.org/abs/1703.05381 · HTML: https://mlsanity.com/paper/1703.05381/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 Mar 2017.

## Built on by (most cited first, 1 of 1)

- [Image-to-Image Translation-based Data Augmentation for Robust EV Charging Inlet Detection](https://mlsanity.com/paper/2112.05290/) (2021)

## Abstract (arXiv)

Electric vehicles (EVs) and plug-in hybrid vehicles (PHEVs) are rapidly gaining popularity on our roads. Besides a comparatively high purchasing price, the main two problems limiting their use are the short driving range and inconvenient charging process. In this paper we address the following by presenting an automatic robot-based charging station with 3D vision guidance for plugging and unplugging the charger. First of all, the whole system concept consisting of a 3D vision system, an UR10 robot and a charging station is presented. Then we show the shape-based matching methods used to successfully identify and get the exact pose of the charging port. The same approach is used to calibrate the camera-robot system by using just known structure of the connector plug and no additional markers. Finally, a three-step robot motion planning procedure for plug-in is presented and functionality is demonstrated in a series of successful experiments.