中文摘要：

PMD相机是一款基于TOF（时间飞行技术）原理的主动式3D相机。该相机可以同时获取灰度图像和距离图像，具有帧率高、无需扫描、不依赖于外界光照等特点，可以将其用于目标的实时位姿测量。研究了相对位姿测量问题，提出基于PMD相机的特征跟踪位姿测量方法。该方法利用PMD相机可直接获取目标物体上各点的深度信息的特点，实时获取目标图像中的特征，并且利用卡尔曼滤波算法，对目标特征进行实时跟踪，提高了位姿测量系统获取信息的速度，而且有效的避免了传统的图像配准方法中提取特征信息存在的复杂性和误差问题。根据获得的特征信息，通过特征点之间的约束关系，实时的确定相机与目标之间的位姿参数。实验结果表明此方法的可行性和有效性。

英文摘要：

PMD camera is an active 3D camera based on principle of TOF. The camera can acquire gray image and distance image at the same time and has the characteristics of high frame rate, no scanning, independent on external light etc, which can be applied for the position and attitude measurement. This paper researches the relative position and attitude measurement problem and presents the characteristic tracking position and attitude measurement method based on PMD camera. The method can take advantage of PMD of characteristic that can directly acquire the target object of different point depth information to get target image of features information in real time and utilize Kalman filtering algorithm to track the target feature. Thereby, the speed of access to information is improved, and the complexity and the error problem of extraction feature information that exist in the traditional image registration method are voided. According to the obtaining feature information, the position and attitude parameters between camera and target could be acquired through the feature points of constraints relationship. The experimental results prove the feasibility and validity of the method.