折反射视觉可由单一摄像机获取360度的全向宽视场，具有安装灵活、结构紧凑、成本低等优势。本项目拟开展基于单个折反射成像系统的目标位姿测量关键技术研究。具体研究内容包括：（1）分析折反射成像点的投影几何，构建折反射成像系统的经纬仪角度成像（Theodolite Angle Imaging）模型，并提出对应的标定方法；（2）为了提高标定和测量精度，设计人工辅助编码标记点，提出适用于折反射图像的编码标记点定位和识别算法；（3）在折反射视觉的透视N点测量理论基础上，评估编码标记点位置分布和数量对测量精度的影响，为编码标记点的应用提供理论指导。本项目创新性地将单个折反射成像系统等效为与经纬仪类似的测角装置，为折反射视觉在机器人导航与控制、大范围3D场景重建、无人机自主着陆等应用研究开辟了新的思路。

Catadioptric omnidirectional vision provides 360-degree large field of view with a single camera and has the advantage of flexible installation, compact structure and low cost. This project is the study of key technology in position and pose measurement by the monocular catadioptric image system. The study includes: (1) Analyzing the projective geometry of catadioptric image point, a new theodolite angle imaging（TAI）model is established. Then，corresponding calibration methods are proposed.（2）In order to improve the calibration and measurement precision, artificial coded targets are designed and an algorithm is proposed to detect and recognize the coded targets for the catadioptric image. (3) On the basis of theodolite angle model, the influence of the location and quantity of the coded mark point on the measurement accuracy is evaluated, which provides theoretical guidance for the application of the coded mark points. This project innovatively convert the model of catadioptric imaging system to an equivalent theodolite angle model, it provide a new way to many application such as robot navigation and control, large-scale 3D reconstruction and autonomous landing of unmanned aerial vehicle.