中文摘要：

一个新视觉测量方法被建议到估计三维(3D ) 基于一个单个照相机在地板上目标放。在一个机器人上修理的照相机在关于地板的一个使倾向的位置。有照相机的一个测量模型象高度和沥青角度那样的外来的参数被描述。放在地板上的一个西洋象棋盘模式的单个图象是足够的校准照相机在照相机以后的外来的参数内在的参数被校准。然后，地板上的目标的位置能与测量模型一起被计算。而且，目标的高度能在在地板上分享一样的位置的垂直的线与对点被计算。比作过去常在飞机上估计位置的常规方法，这个方法能获得 3D 位置。室内的实验证明建议方法的精确性和有效性。

英文摘要：

A new visual measurement method is proposed to estimate three-dimensional （3D） position of the object on the floor based on a single camera. The camera fixed on a robot is in an inclined position with respect to the floor. A measurement model with the camera＇s extrinsic parameters such as the height and pitch angle is described. Single image of a chessboard pattern placed on the floor is enough to calibrate the camera＇s extrinsic parameters after the camera＇s intrinsic parameters are calibrated. Then the position of object on the floor can be computed with the measurement model. Furthermore, the height of object can be calculated with the paired-points in the vertical line sharing the same position on the floor. Compared to the conventional method used to estimate the positions on the plane, this method can obtain the 3D positions. The indoor experiment testifies the accuracy and validity of the proposed method.