Research on Positioning Method of Coal Mine Mining Equipment Based on Monocular Vision

In view of the insufficient characteristics and depth acquisition difficulties encountered in process uniocular vision measurement, posture measurement scheme tunneling equipment based on was proposed this study. The positioning coal mine monocular to extract environmental features match features, RANSAC algorithm used eliminate pair mismatching points. This done solve optimized matching realize pose estimation camera. solution model triangulation calculation method proposed, PNP adopted three-dimensional spatial point coordinates so as improve visual accuracy stability lay foundation for 3D reconstruction roadway. simulate downhole environment build an experimental verification platform positioning. results showed that position roadheader within 60 mm 1.3° could accurate registration cloud global coordinate system. time required whole only 179 ms, it had good real-time performance.