为实现对流化床中目标颗粒空间位姿追踪测量，开发了一种基于单目视觉及彩色纹理编码球体的位姿测量系统。针对空间位置定位，建立了空间球体成像模型，并基于小孔平面成像模型及相机坐标转换模型，结合空间解析几何相关理论，分析了单目位置测量原理。考虑球体颗粒无法通过自身形状特征实现空间姿态测量，引入纹理特征，通过提取目标颗粒纹理，比较并建立其与合成库中已知方向图像之间的相似关系，实现空间姿态的测量。根据以上理论分析，搭建实验系统并进行了一系列实验。结果表明，位置测量综合误差率不大于0.5%，姿态测量误差不大于2°，验证了所提模型的有效性和可行性。

In order to realize the spatial pose tracking measurement of target particles in a fluidized bed, a pose measurement system based on monocular vision and color texture-coded spheres is developed. For spatial position positioning, a spatial sphere imaging model is established, and based on the pinhole plane imaging model and camera coordinate transformation model, combined with the related theory of spatial analytic geometry, the principle of monocular position measurement is analyzed. Considering that spherical particles cannot measure spatial attitude through their own shape features, the texture feature is introduced, and the measurement of spatial attitude is realized by extracting the texture of the target particle, comparing and establishing its similarity with the known direction image in the synthetic library. According to the above theoretical analysis, an experimental system is built and a series of experiments are carried out. The results show that the comprehensive error rate of position measurement is not more than 0.5%, and the error of attitude measurement is not more than 2°, which verifies the effectiveness and feasibility of the proposed model.