Measurement of Spherical Particle Pose by Monocular Vision

In order to realize the spatial pose tracking measurement of target particles in a fluidized bed, a pose measurement system based on monocular vision and color texture-coded spheres is developed. For spatial position positioning, a spatial sphere imaging model is established, and based on the pinhole plane imaging model and camera coordinate transformation model, combined with the related theory of spatial analytic geometry, the principle of monocular position measurement is analyzed. Considering that spherical particles cannot measure spatial attitude through their own shape features, the texture feature is introduced, and the measurement of spatial attitude is realized by extracting the texture of the target particle, comparing and establishing its similarity with the known direction image in the synthetic library. According to the above theoretical analysis, an experimental system is built and a series of experiments are carried out. The results show that the comprehensive error rate of position measurement is not more than 0. 5%, and the error of attitude measurement is not more than 2 degrees, which verifies the effectiveness and feasibility of the proposed model.