通过增加常见的点特征为位姿测量提供空间几何约束,分析利用圆形目标和与之异面的特征点进行单目视觉定位时位姿解个数的情况.以光心和特征点位于圆平面两侧为前提条件,运用几何方法证明了特征点与光心和圆平面的相对位置决定了位姿解的个数,并求出唯一位姿解和两组位姿解时光心、圆平面和特征点的位置关系,提出了基于圆特征和异面点特征的位姿求解算法,实现了6维位姿量测量,仿真实验和实物实验结果验证了算法的有效性和准确性.

Adding a common point feature which provided spatial geometric constraints,the paper analyzed the number of solutions to monocular vision pose measurement based on a circular target and a non-coplanar point. The geometric method was used to prove that the number of solutions is determined by the relative position of the feature point,the optical center and the circle plane,then a new algorithm was proposed to measure the pose and orientation. The algorithm can determine the six dimensional pose parameters,and the results of simulation and experiments indicated the effectiveness and accuracy.