3D Coordinate Calculation and Pose Estimation of Power Meter based on Binocular Stereo Vision

Abstract

To establish an intelligent power meter verification automatic flow operation platform, it is necessary to transport different types of power meters from the area to be verified to the conveyor belt of the instrument verification line. Aiming at the background demand of this practical application, this paper studies the power meter positioning based on binocular stereo vision, including instrument 3D coordinate calculation and pose estimation. The instrument 3D coordinate calculation mainly calculates the coordinates of the instrument center point through the stereo matching algorithm. The instrument pose estimation mainly expresses the space pose of the instrument by increasing the inclination angle of the instrument in the horizontal plane. Through the 3D coordinate calculation and pose estimation of the power meter, the spatial position of the instrument relative to the binocular stereo vision system can be obtained, which lays a foundation for automatic grabing of power meter by mechanical arm.