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First principles calculations have been carried out to investigate the crystal structure, elastic constants, chemical bonding, electronic and optical properties of Li 2 CdGeS 4 . The calculated equilibrium lattice constants, bulk modulus and its pressure derivative are in reasonable agreement with the available experimental results. We have predicted the elastic constants as well as bulk and shear moduli. By the elastic stability criteria, it is found that Li 2 CdGeS 4 is mechanically stable and is a ductile system. Electronic and chemical bonding properties have been studied through the calculation of band structure, density of states and Mulliken population. We found that the energy band gap is 2.817 eV in LDA (2.421 eV in GGA) for Li 2 CdGeS 4 . Moreover the complex dielectric function, refractive index, extinction coefficient, absorption coefficient, reflectivity and loss function are also calculated, which show significant optical anisotropies in the components of polarization directions (1 0 0), (0 1 0) and (0 0 1).

The approach to passive stereo vision-based real-time localization is developed in this context, as it can adapt to complex factors such as the illuminations, backgrounds, viewing angles, and occlusions. After the calibration of the visual coordinates, the proposed system can jointly calibrate the robots and the vision systems flexibly by controlling the terminal positions of the robots. The fast phaseonly correlation algorithm is proposed to considerably improve the matching efficiency of the image pairs. Pose normalization and regional three-dimensional vector feature detection can make the proposed system robust to the surface patterns of the cars and the battery shapes, allowing for reliable localization and detection. The proposed real-time system has been verified in the practical application. ARTICLE HISTORY

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