SIA OpenIR  > 机器人学研究室
An Improved ArUco Marker for Monocular Vision Ranging
Wang YT(王玉涛)1; Zheng, Zongpeng1; Su, Zhiqi2; Yang G(杨钢)1; Wang Z(王忠)3; Luo Y(罗宇)3
Department机器人学研究室
Conference Name32nd Chinese Control and Decision Conference, CCDC 2020
Conference DateAugust 22-24, 2020
Conference PlaceHefei, China
Author of SourceIEEE Control Systems Society (CSS) ; Northeastern University ; State Key Laboratory of Synthetical Automation for Process Industries ; Technical Committee on Control Theory, Chinese Association of Automation
Source PublicationProceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020
PublisherIEEE
Publication PlaceNew York
2020
Pages2915-2919
Indexed ByEI
EI Accession number20204009254852
Contribution Rank3
ISBN978-1-7281-5854-9
KeywordMonocular vision ArUco marker Pose estimation Moment, Rangin
AbstractArUco 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/27696
Collection机器人学研究室
Corresponding AuthorWang YT(王玉涛)
Affiliation1.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
Recommended Citation
GB/T 7714
Wang YT,Zheng, Zongpeng,Su, Zhiqi,et al. An Improved ArUco Marker for Monocular Vision Ranging[C]//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. New York:IEEE,2020:2915-2919.
Files in This Item:
File Name/Size DocType Version Access License
An Improved ArUco Ma(258KB)会议论文 开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Wang YT(王玉涛)]'s Articles
[Zheng, Zongpeng]'s Articles
[Su, Zhiqi]'s Articles
Baidu academic
Similar articles in Baidu academic
[Wang YT(王玉涛)]'s Articles
[Zheng, Zongpeng]'s Articles
[Su, Zhiqi]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Wang YT(王玉涛)]'s Articles
[Zheng, Zongpeng]'s Articles
[Su, Zhiqi]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: An Improved ArUco Marker for Monocular Vision Ranging.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.