An Improved ArUco Marker for Monocular Vision Ranging

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	An Improved ArUco Marker for Monocular Vision Ranging
	Wang YT(王玉涛)1; Zheng, Zongpeng 1; Su, Zhiqi 2; Yang G(杨钢)1; Wang Z(王忠)3; Luo Y(罗宇)3
	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
内容类型	会议论文
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.