A solution to pose ambiguity of visual markers using Moiré patterns
A solution to pose ambiguity of visual markers using Moiré patterns
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DOI：
10.1109/iros.2014.6942995
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发表时间：
2014-11
期刊：
影响因子：
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通讯作者：
Hideyuki Tanaka;Y. Sumi;Y. Matsumoto
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文献类型：
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作者：
Hideyuki Tanaka;Y. Sumi;Y. Matsumoto
在机器人应用中，视觉标记是辅助物体姿态视觉识别的有用工具。但它们在方位估计中有两个基本问题。一个是锋面观测中定向精度的下降。另一种是姿态模糊，即方位不能唯一确定。我们之前开发了一种新型的视觉标记LentiMark，它解决了前面的问题。这一次，我们提出了通过改进后一个问题的解决方案。我们利用两种新的莫尔́模式来获得唯一的角度信息，并消除了姿态模糊。新的标记可以实现稳定和稳健的姿势估计，而不会受到姿势模糊的影响。本研究的贡献在于，在小平面标记的框架下，解决了视觉标记最大的两个问题。通过一些对比实验，验证了该方法的有效性。
Visual markers are useful tools assisting visual recognition of object pose in robotic applications. But they have two fundamental problems in orientation estimation. One is degradation of orientation accuracy in frontal observation. The other is “pose ambiguity” that the orientation cannot be determined uniquely. We previously developed a novel visual marker “LentiMark” which solves the former problem. This time we propose a solution to the latter problem by improving it. We utilize two new moiré patterns to get unique angle information and eliminate the pose ambiguity. The new marker enables stable and robust pose estimation without suffering from the pose ambiguities. The contribution of this study is that we solved the biggest two problems of visual markers, in the framework of small planar markers. We demonstrated the availability of our method through some comparative experiments.