3D position and attitude measurement based on marking-points recognition
基于标志点识别的三维位姿测量方法

A new method based on binocular visual theory to measure 3D position and attitude parameters of a moving object was described. Local coordinate system of the moving object was defined by LED marking-points. By calculating 3D position of each LED, 3D position and attitude parameters of the moving object can be calculated. At the same time, according to the particularity of environment, an algorithm called constraint of epipolar-slope match based on priority was presented. Experimental results show this method is simple and efficient, and satisfies the requirements of precision and real time.