To accurately measure the attitude angles (pitch, roll, and yaw) of a rigid object that rotates in a space, we propose a high-precision rotation angle measurement method based on monocular vision. This method combines camera self-calibration, multiview geometry, and 3D measurement. This monocular vision measuring system consists of an area scan CCD, a prime lens, and a spots array target, which are fixed on the measured object. We can calculate the rotation angle according to the rebuilt rotating spots array target by using this monocular vision measuring system. The measurement precision of rotation angle can reach 1 arc sec in this paper's experiments. This method has high measurement precision and good stability. Therefore we can widely use this method in machinery manufacturing, engineering measurement, aerospace, and the military.
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