The 6D pose of an object is its position and attitude based on planar vectors and rotation vectors.Traditional methods for estimating the 6D pose of an object using a monocular RGB camera often result in low measurement accuracy due to reasons such as a lack of markers and low recognition rates.To improve the accuracy of object pose measurement,a feature marker-based method for measuring the 6D pose of an object is proposed.First,a feature marker that can provide more markers and has a high recognition rate is designed.3D-2D point pairs are obtained by recognizing the feature markers on the object to be measured with the camera.Second,a method for measuring the 6D pose of an object is designed based on the principle of camera imaging.Then,models of rotation matrices and displacement matrices for solving the pose changes of the workpiece are established.Finally,the 6D pose of the workpiece is solved based on the relationship between the established rotation matrix model and Euler angles.Experimental results show that within a displacement range of 0-170 mm,the measurement errors of displacement along the X,Y,and Z axes are less than 0.5 mm;within a rotation range of 0-30°,the measurement errors of rotation angles around the X and Y axes are less than 0.8°;within a rotation range of 0-45°,the measurement error of rotation angle around the Z axis is less than 0.8°;the time consumed for measuring the rotation angle error of the object around the X and Y axes is less than 1.5 s,and the time consumed for measuring the rotation angle error around the Z axis is less than 2 s;the time consumed for measuring the displacement error of the object along the X and Z axes is less than 2 s,and the time consumed for measuring the displacement error along the Z axis is less than 2.5 s;it can meet the actual production requirements.The experimental results verify the effectiveness of the proposed method,which can be used in actual production environments.
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