Monocular Position-Pose Measurement Based on Circular and Linear Features

This paper presents a new method for monocular position-pose measurement, which is based on the circular and linear features. The method improves the single circle based monocular position-pose measurement by recognizing the detectable circular structure and linear edge of target. First, according to the projection of the circle on the image, two sets of position-pose solutions are calculated, which do not contain the roll angle. Then, the roll angle is solved by utilizing the linear feature. The upper endpoint of the linear edge is selected as a reference point to eliminate the ambiguity. Finally, the simulation model and physical experimental platform are established to verify the validity and accuracy of the proposed method. Experimental results indicate that the proposed method can obtain the roll angle accurately and eliminate the ambiguity effectively. In case of noise and detection error, the results still remain accurate, which indicates that the proposed method is robust and has great application value in monocular position-pose measurement.