基于时变颜色标识的位姿测量方法研究

A Pose Measurement Method Based on Time-Varying Color Fiducial Markers

为实现低照度环境中大范围位置姿态测量,提出了一种基于时变颜色标识的低照度位姿测量方法。首先,采用颜色可编程控制的LED灯珠,构建一种时变颜色、多层嵌套的合作标识;其次,检测、识别与定位LED灯珠,采用EPnP位姿解算方法得到单层姿态测量结果,并基于尺寸置信度加权的信息融合方法,实现多层标识姿态测量结果的融合。实验结果表明,该方法在正常光线环境中,时变颜色标识的测量性能良好,位姿测量有效范围大。在低照度环境中,时变颜色标识的位姿测量精度优于正常光线环境中测量精度。

To achieve large-scale position and pose measurement in a low illumination environment,a method is proposed based on time-varying color fiducial markers.Firstly,LED lamps with programmable color are used to construct a multi-layer nested cooperative marker with time-varying color.Subsequently,the LEDs are detected,recognized,and positioned.The EPnP algorithm is utilized to obtain single-layer pose measurement results.Based on an information fusion method weighted by size confidence,the fusion of multi-layer marker pose measurement results is achieved.Experimental results indicate that:1)Under normal lighting conditions,the proposed method demonstrates excellent performance with time-varying color fiducial markers and a large effective measurement range;and 2)Under low illumination conditions,the accuracy of position and attitude measurement using time-varying color fiducial markers surpasses those achieved under normal lighting conditions.