机电工程技术2024，Vol.53Issue(5)：159-161,166,4.DOI:10.3969/j.issn.1009-9492.2024.05.035
基于单目视觉的机器人定位算法
Research on Robot Positioning Algorithm Based on Monocular Vision
摘要
Abstract
The ArUco calibration method currently used for monocular vision measurement has low accuracy and cannot meet the applications of high-precision positioning and ranging.A robot positioning algorithm based on monocular vision is proposed.Additional rectangular patterns are used to enhance the original mark to form a checkerboard shape.A sub-pixel corner point calculation method is introduced to accurately locate the coordinate information of the corner point of the mark.Finally,by using the least squares method for fitting,the PnP algorithm is used to calculate the spatial position information of the camera relative to the marker,which effectively improves the accuracy of attitude estimation and ranging.Test results show that the proposed positioning method increases the depth direction by 5 mm,and the error is only 2 mm.Compared with the existing method,the depth estimation error is reduced by 66.7%,and the horizontal direction error is only 1 mm.ArUco markers can be accurately identified in complex environments and partially obscured areas.关键词
机器视觉/ArUco标记/PnP算法/优化算法/鲁棒性Key words
machine vision/ArUco marker/PnP algorithm/optimization algorithm/robustness分类
计算机与自动化引用本文复制引用
张云凡,江励,徐俊佳,汤健华..基于单目视觉的机器人定位算法[J].机电工程技术,2024,53(5):159-161,166,4.基金项目
区域联合基金项目(2019A1515110258) （2019A1515110258）
国家自然科学基金青年基金项目(51905384) （51905384）
