Binocular vision measurement method for relative position and attitude based on dual-quaternion

摘要

To overcome the shortcomings of a non-uniform description of relative position and attitude using traditional methods, this paper proposes an algorithm for binocular vision measurement of a leader-follower rigid body's relative position and attitude based on dual-quaternion. Feature lines on the leader rigid body are selected as reference lines. Then, the coordinate values of the feature lines are obtained in the system of proprio-coordinates of the follower rigid body based on the binocular vision measurement principle, with the feature lines represented by Plucker lines. The relationship of relative position and attitude between the leader rigid body and the follower rigid body is illustrated by optimizing the feature that enables the dual-quaternion to transform the feature lines. A singular value decomposition approach is used to determine the relative position and attitude between the two rigid bodies. The simulation results show that this method overcomes the deficiencies associated with the separate measurement of position and attitude using a traditional algorithm. This method exhibits the ability to handle noise and satisfies the accuracy requirements for a general rigid body.