The visual fiducial based pose estimation of mobile manipulator in large-scale components manufacturing
The visual fiducial based pose estimation of mobile manipulator in large-scale components manufacturing
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DOI：
10.1007/s11431-021-1849-2
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发表时间：
2021-07
期刊：
影响因子：
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通讯作者：
Zeyu Gong;Supu Yu;B. Tao;Zhenfeng Gu;Jinshan Wang;Han Ding
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文献类型：
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作者：
Zeyu Gong;Supu Yu;B. Tao;Zhenfeng Gu;Jinshan Wang;Han Ding
在大操作空间内精确估计末端执行器的位姿是移动的机械手实现大型复杂零件高效加工的关键。提出了一种新的基于视觉基准标记的大范围姿态跟踪方法，并进一步提出了编码基准标记的布局优化方法。提出了一种名为定向精度稀释度（ODOP）的度量，以评估放大的位姿估计误差相比的编码基准标记的测量误差。基于ODOP分析编码标记的分布模式，确定正方形布局是标记的最小定位单元的满意分布模式，并进一步选择正方形布局的边长。仿真和实验证明了ODOP指标的有效性。最后，采用方形布局和设计的定位编码标记分布密度，实现了移动的机械手对大型构件的高精度测量。
The accurate estimation of the end-effector’s pose in large operating spaces is the key for the mobile manipulator to realize efficient manufacturing of large and complex components. We propose a novel pose tracking method in large-range using visual fiducial markers, and further propose the layout optimization method for the encoded fiducial markers. A metric named orientational dilution of precision (ODOP) is proposed to evaluate the magnification of the pose estimation error compared with the measurement error of the coded fiducial markers. The distribution pattern of the coded markers is analyzed based on ODOP, and the square-shaped layout is determined to be a satisfactory distribution pattern for the minimum positioning unit of markers, and the side length of the square-shaped layout is further selected. The simulations and experiments prove the effectiveness of the ODOP index. Finally, the square-shaped layout and the designed distribution density for positioning coded markers are adopted to realize the high-precision measurement of large components by the mobile manipulator.