The key objective of this research work is to develop and improve the posture estimation of the robots relative to each other using a combination of visual perception and optical (laser) pointers. The two critical parameters that are estimated in this work are the linear separation between the robots and the orientation angle of the robots. An empirical model is developed for linear separation estimation while five different models are developed towards the estimation of orientation related to the distance.Performance of the developed models are investigation through simulation studies and the results shows that the linear model exhibits an average error of 5.19% while the angular estimation model exhibits an error of 13.9% at a predetermined distance. © 2012 Springer-Verlag.