Research on local visual global localization method based on out-of-view reference of spatial point association

Abstract

The global localisation of spatial points is a critical step in tasks such as object tracking, motion analysis and pose measurement. This paper addresses the critical issue of global localisation when spatial points are scattered and cannot be contained within the same field of view. It proposes a local visual global localisation method based on an out-of-view reference through spatial point association. By constructing a local measurement and localisation model using parallel binocular vision and a spatial coordinate transformation model that associates local regions with the global reference, the global localisation of spatial points inside and outside the field of view is achieved. Experimental results demonstrate that the localisation accuracy of spatial points is less than 0.1 mm in terms of distance measurement. This method is useful for cooperative multi-camera localization and multi-point measurement in large 3D spaces.