The invention discloses a
monocular 6D
pose estimation method based on a regular
icosahedron. According to the method, an ArUco code is combined with a regular
icosahedron, then a
monocular camera is used for collecting a regular
icosahedron image marked by the ArUco code, the spatial three-dimensional coordinate of the central point of the ArUco code is calculated, the sparse
point cloud of an inscribed sphere of the ArUco code is obtained, then multiple nonlinear fitting and an iterative
nearest point algorithm are used for comparing the virtual regular icosahedron at the coordinate of the camera. And further the
spatial displacement and the rotation angle of the current regular icosahedron can be calculated, and the
pose of the measured object is calculated indirectly. The method overcomes the high requirements of an existing method for illumination, environment and equipment, the detection is rapid, and the stability is improved; according to the method, a large amount of energy does not need to be put into template acquisition or model training in the early stage, the
pose estimation cost is remarkably reduced, the pose
estimation precision is ensured, the universality is enhanced, and pose estimation of large-amplitude movement of an object can be carried out.