在军事上,利用移动机器人实时准确的跟踪前方的引导员,在野外复杂环境中完成后勤运输与救援任务有重要的意义。针对跟踪系统实时性的要求,利用收敛速度较快的 Newton 迭代法计算摄像机的位姿。通过对实验结果的分析,Newton 迭代法计算摄像机的位姿能够很好的满足跟踪系统的精度要求；完成摄像机位姿的计算耗时不到1 ms,该算法可以满足跟踪系统对跟踪实时性的要求。%It is important that transportation robot real - time accurately tracking its front guider trans-ports logistics materials to the destination in the wild complex terrain circumstances in the military.Ac-cording to real-time requirements of tracking system,the faster convergence Newton iterative algorithm is used to calculate camera pose.The experimental result indicates that,Camera pose calculated by New-ton algorithm meets the requirements of the system tracking precision.Completing estimation of camera pose takes less than 1ms,which meets the requirements of the system tracking real-time.
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