Fig. 1. Schematic diagram of reference image mosaic（a）Original image，（b）Splicing image，（c）Reference image

Fig. 2. Schematic diagram of image matching after contaminated random rough surface（a）Matching image before self-healing，（b）Matching image after self-healing

Fig. 3. Experimental curve of influence of number of characteristic points on measurement accuracy

Fig. 4. Flow chart of pose measurement of profile following rough surface

Fig. 5. Comparison of different measurement algorithms on random rough surfaces

Fig. 6. Algorithm processing time comparison

Fig. 7. Self healing matching comparison diagram (a) Matching image before destruction,(b) Matching image after destruction,(c) Matching image after self-healing

Fig. 8. Self healing contrast experiment (a) Measurement curve before destruction of azimuth, (b) Measurement curve after destruction of azimuth, (c) Measurement curve after self-healing of azimuth, (d) Measurement curve before destruction of pitch, (e) Measurement curve after destruction of pitch, (f) Measurement curve after self-healing of pitch, (g) Measurement curve before destruction of roll, (h) Measurement curve after destruction of roll, (i) Measurement curve after self-healing of roll