An Improved ArUco Marker for Monocular Vision Ranging
文献类型：会议论文
| 作者 | Wang YT(王玉涛)1; Zheng, Zongpeng1; Su, Zhiqi2; Yang G(杨钢)1; Wang Z(王忠)3 ; Luo Y(罗宇)3
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| 出版日期 | 2020 |
| 会议日期 | August 22-24, 2020 |
| 会议地点 | Hefei, China |
| 关键词 | Monocular vision ArUco marker Pose estimation Moment, Rangin |
| 页码 | 2915-2919 |
| 英文摘要 | ArUco markers can be used to measure the three-dimension distance between the lens of a monocular camera and the target markers. The corner points of the marker used for distance measurement by pose estimation are the intersection of the edges obtained by line fitting. The accuracy of straight line fitting has a great influence on the accuracy of corner coordinates, which directly affects the stability of ranging. In the environment of high noise and high mechanical vibration, but there is a problem of corner jitter. In this paper, an improved method of adding four feature circles on the diagonal of ArUco marker is proposed, and the centers of the circles are fitted into a straight line by the least square method to modify the corners of ArUco marker. Experiments are performed by measuring the distance between the marker and the camera in depth and lateral directions respectively. When using the improved marker for ranging, the relative error is less than 1%, and the standard deviation is less than 0.3cm, which shows that the method improves the robustness and stability of measurement. |
| 源文献作者 | IEEE Control Systems Society (CSS) ; Northeastern University ; State Key Laboratory of Synthetical Automation for Process Industries ; Technical Committee on Control Theory, Chinese Association of Automation |
| 产权排序 | 3 |
| 会议录 | Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-5854-9 |
| WOS记录号 | WOS:000621616903004 |
| 源URL | [http://ir.sia.cn/handle/173321/27696]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Wang YT(王玉涛) |
| 作者单位 | 1.School of Information Science and Engineering, Northeastern University, Shenyang 110819 2.Liugang Dongxin Technology Company Limited, Liuzhou 545002, China 3.Shenyang Institute of Automation , Chinese Academy of Sciences, Shenyang 110819 |
| 推荐引用方式 GB/T 7714 | Wang YT,Zheng, Zongpeng,Su, Zhiqi,et al. An Improved ArUco Marker for Monocular Vision Ranging[C]. 见:. Hefei, China. August 22-24, 2020. |
入库方式： OAI收割
来源：沈阳自动化研究所
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