Avisual marker for precise pose estimation based on lenticular lenses
Avisual marker for precise pose estimation based on lenticular lenses
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基于双凸透镜的精确姿态估计视觉标记
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
Y. Matsumoto
中科院分区：
文献类型：
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作者：
Hideyuki Tanaka;Y. Sumi;Y. Matsumoto
视觉标记是服务机器人的辅助工具。现有的平面视觉标记器在姿态估计中，特别是在正面方向上，精度和稳定性较差。在这项研究中，我们开发了一种新的视觉标记的基础上，一个新的原则，使准确和稳定的姿态估计，甚至从正面方向的观察。该标记具有由双凸透镜和条纹图案组成的莫尔图案，根据观察的视线角度改变其外观。我们可以通过一个单一的相机提取的模式的姿态信息。我们开发了一个原型的标记和姿态估计算法，然后通过一些验证测试证明了它的优越性，现有的标记。
Visual marker is a useful assistive tool for service robots. Existing planar visual markers have poor accuracy and stability in pose estimation, especially in frontal direction. In this study, we developed a novel visual marker based on a new principle enabling accurate and stable pose estimation even by observation from frontal direction. The marker has moiré patterns which consist of lenticular lens and stripe pattern, which vary their appearance according to visual-line angle of observation. We can extract pose information from the pattern by a single camera. We developed a prototype of the marker and an algorithm for pose estimation, and then demonstrated its superiority to existing markers by some validation tests.