Abstract
AbstractIn this paper, in order to solve the automatic alignment problem of large targets loaded in close range by cantilever, a non-common field of view position and pose measurement method with two cameras is proposed based on two cooperative targets in the same plane at the bottom of the vehicle box. The image of the cooperative target on the bottom of the vehicle box is obtained by the camera on the cantilever hanger. Based on the position relationship between the cooperative target and the camera, a position and pose measurement model is established when the bottom of the loading box is parallel to the cantilever spreader. The position and pose relationship between the spreader and the bottom of the loading box is solved. The simulation results show that the method is feasible to measure the position and pose of large target in close range with non-common field of view.KeywordsAutomatic alignmentMachine visionNon-common field of viewPose measurementCooperative target
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