Solution of duality in target pose measurement based on angle constraint

In order to solve duality in pose estimation of single circle feature, a method for eliminating the false pose of the target pose based on angle constraint is proposed. Under the premise of camera calibration, two or more images of circular target are obtained by translating the camera system on a horizontal plane. Based on the nature that real attitude angle of circular target remains unchanged in the camera coordinate system, the false solution can be effectively eliminated. This method can be applied to the industrial robot with a camera installed at the end of the robot, the false solution can be eliminated by controlling the robot to do the known translational motion. Experimental results show that the absolute error of the attitude angle is less than 0.5°, and the true position of the corresponding target is selected by the real attitude. The method is simple and easy to operate, which can accurately locate the true position of the object without additional high equipment. The success rate can reach 100%.