Study on Spatial 3D Pose Measurement of Rotary Object

In order to measure the landing parameters, the binocular intersection measuring system has been set up near the landing area to detect the landing pose of flying target by high-speed photograph. A new approach measuring 3D pose based on binocular vision is proposed which avoid gray and feature matching in traditional pose measuring approach. The line equations of two generatrices in two planes projected by the rotary object are obtained. The rotary object axis' direction vector is calculated by two spatial intersecting planes, which are the bisector planes of planes formed by two generatrices with the corresponding camera optical center The simulation experiments demonstrate that the pose measuring method is of less than 0.5 degrees accuracy, the measuring result is stable and the presented method can satisfy the need of high accurate measurement of spatial 3D pose measurement of rotary object.