Tower column hoisting relative attitude measurement method based on binocular vision

The invention discloses a tower column hoisting relative attitude measurement method based on binocular vision. The method comprises the following steps: S1, integrating binocular vision measurement equipment; s2, calibrating the camera A and the camera B, and calculating internal parameters and external parameters of the camera A and the camera B; step S3, arrangement of vision measurement equipment; step S4, performing model selection and layout of the target; step S5, target pixel coordinate acquisition; s6, converting the pixel coordinates of the target mark points into three-dimensional space coordinates; step S7, assembling the bridge tower sections; when the bridge tower sections are hoisted and spliced, real-time attitude measurement of the bridge tower sections is realized through the high-precision industrial camera, high-altitude monitoring personnel are replaced, the risk of high-altitude operation of constructors is reduced, and the labor cost is saved. 本发明公开了一种基于双目视觉的塔柱吊装相对姿态测量方法，包括以下步骤：步骤S1、双目视