Three-dimensional visual methods for object pose measurement

摘要

It is a hotspot problem in robotics research that determine the related pose between two space objects and realize their cooperate. 3D visual method is the main method for measures the space object pose. Because the rigidity demand during pose computes, the 3D vision at this condition ins model based. That is to say the model of the marks must be used as a strict restriction during the computing. This paper will give the method of computing 3D pose at first and discuss the model restriction problem emphatically, include model- based monocular vision method and model-based binocular stereo. The compare analysis between the two methods and the experiment result will be given at last.