针对直线特征，提出了基于两条垂直直线特征双目视觉位姿测量解析算法。该算法根据直线特征和其在摄像机图像上投影直线共面性质建立模型，利用单位四元素法简化了投影模型变量，进而在仅知被测物体上两条直线相互垂直的信息，利用两条垂线投影在两个摄像机图像上四条直线图像，求解出被测物体的位姿参数。同时分析了退化情况下位姿求解方法，即当直线向量平行于两个摄像机基线向量时，直线向量在左右摄像机投影到同一条直线上时的位姿求解方法。基于Matlab仿真实验表明该算法对于噪声具有一定的稳健性，即使两条直线不垂直而有一个角度误差时，仍能保证一定的精度。实物实验表明该算法可以满足一般测量精度要求。

For linear features, an algorithm which is based on perpendicular lines is proposed for binocular vision pose measurement. The algorithm is based on linear feature and its projection line on the camera image coplanar property. Unit quaternions is used to simplify model variables. Under the condition of two known perpendicular on object, an analytical solution of object pose can be determined with four lines which is projected by two perpendicular lines on two-camera image. The algorithm is also analyzed when linear vector projected onto the two cameras on the same line, namely linear vector parallel to the two camera position. Matlab simulation results show that the algorithm is robust to noise and can guarantee a certain precision even if the two straight lines have error for vertical. Physical experiments show that the algorithm can meet the general precision requirements.