Abstract: In an embodiment of the invention there is provided a method of visual localization, comprising: generating a plurality of virtual views, wherein each of the virtual views is associated with a location; obtaining a query image; determining the location where the query image was obtained on the basis of a comparison of the query image with said virtual views.

Abstract: A method that makes it possible to produce actual cutting contours on tubes with only rough tolerances, to which contours others of the tubes can be joined and welded, wherein, as a result of the actual cutting contours being modified, the rough shape tolerance of the tubes does not enter the tolerance chain, or enters the latter only a little, for the tubes to be fully welded to form a tubular frame. It also allows the automated reception of only pre-oriented tubes by a gripping arm and the infeed thereof to a laser cutting device.

Abstract: A method for trimming a bent tube along an actual cutting contour, wherein a virtual tolerance envelope is calculated for the tube and a laser beam cutting the actual cutting contour is guided along a desired cutting contour related to the tolerance envelope, wherein the actual cutting contour is produced as a projection of the desired cutting contour or the laser beam is guided along the corrected desired cutting contour, which then corresponds to the actual cutting contour.

Abstract: Method for the linear structuring of a coated substrate for producing thin-film solar cell modules in which tracks are introduced in an upper structure plane so as to be adapted to the path of existing tracks in a lower structure plane in that a structuring tool is controlled in y direction by means of a control quantity which is derived from image recordings of the existing tracks, and the substrate is moved back and forth under the structuring tool. The image recordings for acquiring existing tracks are carried out only during the forward passes. The generation of tracks takes place during the forward passes and backward passes.

Abstract: Method for the linear structuring of a coated substrate for producing thin-film solar cell modules in which tracks are introduced in an upper structure plane so as to be adapted to the path of existing tracks in a lower structure plane in that a structuring tool is controlled in y direction by means of a control quantity which is derived from image recordings of the existing tracks, and the substrate is moved back and forth under the structuring tool. The image recordings for acquiring existing tracks are carried out only during the forward passes. The generation of tracks takes place during the forward passes and backward passes.