A Monocular Vision-based Method for In-plane Moving Target Positioning and Pose Determination

Monocular vision is a powerful method for determining the spatial position and pose of a target object. When the target trajectory is situated within the plane, we propose an approach based on monocular vision to characterize an in-plane moving target, transforming the matter into a line-plane intersection. According to the established error analysis model, the optimal observation angle (including the angle between the camera optical axis and plane) was 90°, and the analysis results verified the theoretical feasibility of our method. Simulated experiments were conducted to evaluate the accuracy of the algorithm. Compared with traditional binocular vision, the results show that the proposed method is superior in calculating the position, velocity, and pose of the in-plane moving target. The designed experiments exhibit an equivalent level of measurement accuracy.