计量学报2024，Vol.45Issue(3)：364-371,8.DOI:10.3969/j.issn.1000-1158.2024.03.09
基于改进ArUco标签的位姿估计方法
Pose Estimation Method Based on Improved ArUco Tags
摘要
Abstract
Aiming at the problem of low accuracy when using ArUco tags for long-distance measurement,an improved pose estimation method is proposed.The method designs array feature rings based on ArUco tags,the center points of the rings are extractd and sortd,and the accuracy of circle center detection are judged based on the cross-ratio invariant characteristics.The weighted least squares method is used to establish a straight line fitting relationship between the corner points of the ArUco tag and the center of the array rings to achieve corner point correction.The EPnP algorithm is used to calculate the pose parameters of the improved ArUco tag,and the LM algorithm is used to optimize the pose and improve the pose measurement accuracy.A robotic arm visual positioning system is designed to verify the feasibility and effectiveness of the proposed method.Experimental results show that the maximum translation error measured by this method in the range of 2.5～4 m is 8.72 mm,and the maximum rotation error is 1.78°,and the maximum rotation error is 4.65°.The proposed method reduces the relative error of longitudinal distance measurement by 0.69％at 4 m,improving the measurement accuracy.关键词
几何量计量/位姿估计/ArUco标签/视觉定位/目标检测/单目视觉Key words
geometric metrology/pose estimation/ArUco tag/visual positioning/object detection/monocular vision分类
通用工业技术引用本文复制引用
段志瑜,罗哉,江文松,杨力,李亚茹,卞点..基于改进ArUco标签的位姿估计方法[J].计量学报,2024,45(3):364-371,8.基金项目
国家重点研发计划(2022YFF0705704) （2022YFF0705704）
国家自然科学基金(52075511) （52075511）
国家市场监督管理总局技术保障专项项目(2023YJ10) （2023YJ10）
