Monocular vision-based measurement algorithms for industrial robot

For the Monocular Vision-based measurement problem which based on feature points of space target, including relative position and attitude, this article proposes object relative posture optical measurement method based on quaternion. Firstly introduces the structure of measurement system, and then uses a new analytic algorithm to obtain the initial value and the iterative algorithm to get the final solution. Moreover, the correctness, the practicability and the feasibility of the algorithm can be verified by the simulation experiment. This algorithm can be used in spacecraft docking, industrial robot visual location, target tracking and visual obstacle avoidance, etc.