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Application of a Vision-Based Single Target on Robot Positioning System.

Jing Yu¹, Wensong Jiang¹, Zai Luo¹

¹School of Metrology and Test Engineering, China Jiliang University, Hangzhou 310018, China.

Sensors (Basel, Switzerland)

|April 3, 2021

Summary

A novel Circular-ring visual marker enhances mobile robot positioning accuracy. This new marker significantly outperforms existing systems like AprilTag and ArUco, offering superior performance in various conditions.

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Area of Science:

Robotics
Computer Vision
Machine Learning

Background:

Fiducial marker systems are crucial for mobile robot localization.
Existing markers like AprilTag and ArUco have limitations in accuracy and robustness.

Purpose of the Study:

To introduce a Circular-ring visual location marker for improved robot positioning.
To enhance the 6D pose estimation capabilities of single-target mobile robots.

Main Methods:

A global image-matching model utilizing cross-ratio invariance for unique coding.
Experiments conducted on a 6 degree of freedom (DoF) robotic arm platform.
Comparative analysis against AprilTag, ArUco, and Checkerboard markers.

Main Results:

Keywords:

cross-ratio invariance monocular vision single-target mobile robot positioning target recognition

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The Circular-ring marker demonstrated superior accuracy in small resolution images, varying marker sizes, and long-distance tests.
Achieved twice the accuracy of traditional fiducial markers at distances of 2-4 meters.
Recognition speed is under 0.077 seconds per frame with low average translation and rotation errors.

Conclusions:

The Circular-ring marker offers a significant advancement in visual localization for mobile robots.
Its robustness and accuracy make it a promising alternative for demanding robotic applications.
The marker system provides reliable 6D pose estimation essential for autonomous navigation.