Study of Pose Detection Algorithm for Specific Object Based on Monocular Vision

This paper brings forward a monocular vision detection algorithm in allusion to the specific object’s pose based on Hausdorff Distance. At first, according to the mathematic model which has been established, the 2D template sequence is generated by projecting the specific object in different poses into the image plane of a virtual camera. Then, in order to predigest calculations and accelerate the matching speed during the image matching, the algorithm adopts the local-mean Hausdorff Distance as matching estimate and adopts the search strategy based on hiberarchy which reduces the searching rang by the threshold method before accurate match. In the end of this paper, the experiment that measures the poses of the clamp via the different clamp images respectively is given to testify the validity and speediness of this algorithm.