Abstract: A new method is proposed for measuring the position and orientation of objects using CCD and Ultrasonic sensor. Based on this method, one can calculate the orientation of the projection vector using the undistorted desired point coordinates obtained from one image, then by moving the robot,make the original point of the ultrasonic sen sor cordinate system coincide with the one of the CCD condinate system not having moved, and let its Z axis coincide with the orientation of the projection vector, and then obtain the length of the vector, so in the camera coordinate system one can get the point coordinates which can be transformed into the base coordinate system of the robot. Using the coordinates of two points on the object,one can gain its orientation completely. This new method is simple, low computing payload and very accurate.

Key words: CCD camera, ultrasonic sensor, posing measure, information fusing