摘要
设计了一种用于圆锥体位姿测量的曲面标记。确定了用于圆锥体位姿测测量的曲面标记设计原则;提出了将圆锥体展开成扇形并将扇形等分成6个子扇区的设计方案;以子扇区为标记设计单元,利用梯形实现点面特征的联合设计及标记的赋形设计,且保证每个子扇区具有5～8个角点;结合圆锥体几何及运动特征为每个子扇区设计了唯一识别编码。仿真结果表明:圆锥体在不同位姿下(圆锥体顶点在视场内),从设计的标记上能提取不少于6个角点特征且角点不完全共线,满足圆锥体位姿测量要求。
A curved surface marker, which can be used for cone pose measurements, is designed. The design principles of the curved surface marker are proposed. The cone is flattened into a circular sector and then the sector is divided into six equal sub-sectors, which are used as basic design units. Trapezoids are applied to fulfill the joint design of point features and area features, and to finish the form-giving design of the marker, guaranteeing that there are 5 ~ 8 corners in each sub- sector. Combining the geometric features with the movement features of the cone, a unique code is provided for each sub- sector. The simulation results show that more than five non-fully collinear corners can be extracted and recognized under va- rious poses （with the cone top appears in FOV of both cameras simultaneously）. The designed marker can satisfactory the requirements of cone pose measurement.
出处
《中国图象图形学报》
CSCD
北大核心
2012年第12期1534-1539,共6页
Journal of Image and Graphics
