The Measurement of Micro Platform´s Position and Pose Based on Monocular Visual

This paper put forward an algorithm to measure the position and pose of the six degrees of freedom micro-platform based on monocular visual. Firstly, the micro-platform is abstracted for the Cuboid. We solid the Cuboid which knows its initial position and pose with the world coordinate system together, and select vertices and edges as the feature elements from the Cuboid. The feature elements can be traced by the fixed single camera in 3D space. According to the relationship between working micro-platform and camera model, we can get the position and pose of micro-platform in three-dimensional coordinate.