A High-Accuracy Fiducial Marker with Parallel Lenticular Angle Gauge
A High-Accuracy Fiducial Marker with Parallel Lenticular Angle Gauge
复制标题
带有平行光栅角度计的高精度基准标记
DOI：
10.1109/iros51168.2021.9635988
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
Kunihiro Ogata
中科院分区：
文献类型：
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作者：
Hideyuki Tanaka;Kunihiro Ogata
透镜式角度测量仪（LEAG）是一种通过黑线的位置来可视化相对姿态的平面图案，黑线根据视角移动。作者开发了一种新的LEAG，其中黑线的移动方向与以前的LEAG相差90度，并使用它开发了一种非方形的高精度基准标记。新标记实现了精确的位姿估计，位置误差为距离的0.15%，姿态误差为0.5°。该研究有助于开发设计更灵活的高精度标记物。本文介绍了新的LEAG的原理和行为，新的基准标记的设计，和姿态估计算法，其次是性能验证实验的结果。
Lenticular angle gauge (LEAG) is a planar pattern that visualizes relative attitude by the position of the black line, which moves according to the viewing angle. The authors developed a new LEAG in which the direction of movement of the black line is 90◦different from the previous LEAG, and used it to develop a non-square high-accuracy fiducial marker. The new marker realized accurate pose estimation with a position error of 0.15% of the distance and an attitude error of 0.5°. This research contributes to the development of high-accuracy markers with a more flexible design. This paper describes the principle and behavior of the new LEAG, the design of the new fiducial marker, and the pose estimation algorithm, followed by the results of performance verification experiments.