Pose measurement of target based on monocular vision and circle structured light

In order to solve the problem that the settled features cannot be set on the target’s surface to achieve pose measurement of target with monocular vision system, the circle structured light was mounted to the monocular vision system. By establishing the visual pose measurement model based on circle stuctured light, a new target’s pose measurement method based on monocular vision and circle structured light was proposed. Firstly, the mathematical parameters of structured light stripe projection on target’s surface in different poses were obtained by image processing. And the parameters were input to the pose measurement algorithm. Then the normal vectors of structured light stripe projection on the target’s face were obtained. Finally, the only solution was determined by the distance constraint relationship between the referential point of target’s surface and the structured light strip center. Experimental results show that this method is effective and feasible，and the average errors are less than 0.5°. This method is more convenient for engineering applications, for example, the robot grasping.