中文摘要：

研究了根据点、线混合特征进行单目视觉定位问题,在给定物体坐标系中共面的两个特征点和一条特征直线的条件下,根据它们在像平面上的对应计算相机与物体之间的位姿参数。根据三个特征之间的几何位置关系,分两种情况给出问题求解的具体过程,最终将问题转换成求解一个二次方程问题,真实的工件定位实验验证了方法的有效性。该结果为应用单目视觉进行工件定位提供了一种新方法。

英文摘要：

This paper studied monocular pose determination problem from point and line mixed features. It presented a method to calculate the pose parameters between a camera and an object if coplanar two points and one line features on the object and their given correspondences on the image. It described detailed algorithm according to the geometric relationship of the three features in two cases, and translated the problem into solving a quadratic equation. The real experiment shows the method is effective. It provides a new method for pose determination using monocular vision.