Influence of Target Layout on the Accuracy of Monocular Vision 6DOF Spatial Pose Measurement

The method of pose measurement using computer monocular vision is widely used in the field of six-degree-of-freedom(6DOF) pose measurement in industry, aerospace and other fields. By analyzing the factors that affect the accuracy of monocular pose measurement, the research on the target layout of cooperative positioning is carried out. First, a sub-millimeter monocular spatial positioning simulation system is built, and the key components of the target layout are defined as Target Scale(TS) and Elevation Difference(ED); then, as the input, the 6DOF measurement accuracy of the monocular spatial positioning system under different conditions is obtained. The results show that the three-axis position accuracy is better than 0.5mm, and is affected by the positive correlation between the TS and the ED, and the axial variation is more significant. The three-axis attitude accuracy is better than 0.03° (1.8 arc seconds), which is greatly positive affected by the TS, and the axial pose is more robust than azimuth pose.