Measurement of position and orientation of 6-DOF large load test platform based on stereo vision
基于立体视觉六自由度大载荷实验平台的位姿检测*

This paper put forward an algorithm to measure the position and orientation of the 6-DOF(the six degrees of freedom) large load test platform based on the stereo vision.Firstly,segmented the moving test platform from the background based on temporal and spatial union information and expressed its position and orientation by coordinates of three feature points which were not in a same line.Then,according to the platform's features,large load and large inertia,forecasted its next position and orientation by adding compensation to the current and previous position and orientation change.Experimental results demonstrate that this algorithm can calculate the current position and orientation of the 6-DOF platform,and can predict the next position and orientation accurately.