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The presented approach is a combination of mul- tiple methods. First of all, the shape-based template matching is used to identify the charging port type and use the information from stereo cameras to precisely estimate its position and orientation. The same method is used in the marker-less eye-to-hand calibration, which results in the transformation matrices to be used to convert the position of the charging port from the coordinate system of the vision sensor to the robot. Then, the robot, holding a connector plug, is used to approach and finally plug in the charger cable into the EV or PHEV. Having a precisely estimated orientation is a big challenge and observation of the forces exerted on the end-effector of the robot are necessary to identify any possible misalignment, and stop or readjust if needed. Our approach has proven to work in the lab conditions under indoor illumination and using a custom made charging port holder. Adding a force sensor to the robot would allow the robot to operate using the impedance controller based on force measurements and adjust it during the plug- in procedure according to the strains observed on the end effector. This would likely to be a solution for the observed cases with misalignment issues. The project will be continued by improving the connector plug detection accuracy and automating the marker-less calibration procedure, where the robot would perform calibration movements automatically. Furthermore, current tests were performed under the assumption that the charging port lid or cap was already opened. A linear actuator is already included in the setup, however, it was not used in current experiments. Future work includes finding the charger lid, identifying it’s opening mechanism and using the robot to open and close it for the charging process. This would also require identification of the vehicle model to indicate the correct parking position and localise the approximate position of the charging port. With the test electric vehicle to be delivered in the near future for testing purposes, the system will be evaluated on the real EV in the garage setup and outdoor tests.Communicationbetween thevehicleand the charging station is also under development and this will enable the combination of the robot-based charging system with autonomous parking functions. REFERENCES [1] “EV-Volumes - The Electric Vehicle World Sales Database,” http://www.ev-volumes.com/country/total-world-plug-in-veh icle-volumes/, (Accessed on 03/08/2017). [2] “HALCON The power of machine vision - MVTec Software GmbH,” http://www.mvtec.com/products/halcon/, (Accessed on 03/07/2017). 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