The invention discloses a target relative
pose resolving method based on
monocular vision depth
estimation, which comprises the following steps: firstly, calibrating an internal reference matrix of a
monocular camera, shooting a target image for preprocessing and target detection, and extracting pixel coordinates of at least two feature points; the method comprises the following steps: firstly, acquiring the depth of a feature point through a
monocular distance measurement algorithm based on a pinhole imaging model and a similarity principle, acquiring attitude data of a flight
control system, carrying out air communication, and finally calculating the relative
pose between aircrafts by combining a projection transformation relationship between 2D-3D point pairs established based on a camera
mathematical model. According to the method, the relative
pose between the aircrafts can be solved only by adopting the
monocular camera to process the single-frame image and the at least two feature points, the problems that a traditional
monocular vision positioning
algorithm is high in complexity and long in consumed time are solved, the detection requirement for the feature points is reduced, meanwhile, the depth of the feature points is directly measured through a monocular
distance measurement algorithm, and the accuracy of the relative pose between the aircrafts is improved. And the calculation complexity is further reduced.