Relative pose estimation algorithm for rigid bodies based on orthogonal Plücker lines

This paper proposes a rigid body relative pose estimation method based on binocular vision and perpendicular skew Plücker lines. By acquiring the Plücker coordinates of two perpendicular skew lines on the tracked rigid body through a binocular vision system and combining dual quaternion theory, high-precision 6-DOF relative pose estimation between the target and tracking rigid bodies is achieved. First, feature lines are extracted from binocular images using stereo matching techniques, and their 3D Plücker coordinates are calculated; next, an orthogonal coordinate system is constructed based on the perpendicularity constraint of the direction vectors to solve the rotational component; then a linear equation system incorporating moment vector variations is established, and the translation vector is optimized via least-squares estimation. Simulation results demonstrate that the method maintains high accuracy and strong stability under noise, distance, and attitude variations.