The invention belongs to the technical field of pipeline
pose measurement, and particularly discloses a straight pipeline spatial
pose visual tracking device and method based on an edge contour, and the method comprises the steps: collecting a plurality of plane target images at different angles through a camera, and carrying out the calibration of the camera, and obtaining an internal reference matrix and a
distortion coefficient of the camera; collecting an equal-
diameter straight pipeline image with a known
radius by using a camera, and carrying out edge contour
feature extraction to obtain contour feature points;
distortion correction is carried out on the feature points;
linear fitting is conducted on the corrected distortionless contour feature points to obtain two contour lines of the equal-
diameter straight pipeline, and the axis space
pose is calculated according to the
constraint relation between the two contour lines and the axis of the equal-
diameter straight pipeline; the method can obtain the axis pose of the equal-diameter straight pipeline through linear calculation without
distortion, has the advantages of being simple in
hardware structure, convenient to operate, low in cost and the like, can quickly determine the pose of the equal-diameter straight pipeline, and achieves
pose tracking of the equal-diameter straight pipeline.