Space Coordinate Calculation and Attitude Estimation Based on Binocular Stereo Vision

The target space coordinate calculation and attitude estimation method based on binocular stereo vision, binocular stereo vision system calibration and binocular vision system calibration technology is used to construct the correspondence between the spatial coordinates of the target in the 3D scene and the pixel coordinates of the midpoint of the image. The target image is acquired through the binocular stereo vision system, and then the three-dimensional coordinates of the target midpoint are calculated with the semi-global stereo matching (SGBM) method. The target contour is obtained with the background difference method, and then the rotation angle of the target in the horizontal plane is obtained. The coordinate position indicated by the focus indicates the target posture information. The attitude estimation and the test of power meter are verified with the method proposed above. The experimental results show that the designed method can complete the space coordinate calculation and attitude estimation of power meter. It can realize the accurate grasp motion of the power instrument and provide reference for the application of robot in the field of artificial intelligence of power system.