Researches on binocular vision pose measurement with selected feature points

Generally, the binocular vision system for pose measurement can identify much more than 3 feature points each time. However, the pose of an object can be measured with 3 feature points. Different combinations of feature points may make different effect on the measurement accuracy of the object pose. This article presents a method to optimize the selection of feature points in real time and consequently ensure optimized accuracy of pose measurement based on binocular vision. At first, the object poses measurement model based on binocular vision is established. Then, pose measurement error model is deduced, and the objective function is presented for optimizing the selection of feature points based on error transferring matrix. At last, simulations are conducted and the results verified the correctness of pose measurement error model and the effectiveness of the selected feature points.