提出一种用立体视觉测量多自由度机械装置姿态的方法。该方法的摄像机模型中所含的参数物理意义明确 ,考虑了镜头的畸变 ,并运用最小二乘法拟合这些参数。三维空间的重构是多点的重构 ,所采用的算法简单 ,匹配点的选择和空间坐标的重构同步完成 ,因此运算量小。实验结果表明 ,这种测量方法具有较高的精度 A method of measuring the pose of a multi-degree-of-freedom mechanism using stereoscopic vision is proposed. The parameters contained in the camera model of this method have a clear physical meaning, taking into account the lens distortion and fitting the parameters using a least square method. The reconstruction of 3D space is multi-point reconstruction, the algorithm used is simple, the selection of matching points and the reconstruction of space coordinates are completed synchronously, so the computation is small. The experimental results show that this method has higher accuracy