Robot, and pose estimation method and device based on marker

Abstract

The invention is suitable for the machine vision field and especially relates to a robot, and a pose estimation method and a device based on a marker. The method comprises the following steps of acquiring an image shot by a camera and identifying the marker; acquiring the image coordinate of the characteristic point of the marker, according to a demand, establishing a world coordinate system, andthrough measurement, acquiring the coordinate of the characteristic point of the marker in the world coordinate system; and according to a corresponding relation among the inner parameter of the camera, the position of the robot, the yaw angle of the robot, the offset of the robot and the coordinate of the characteristic point in the world coordinate system, calculating the yaw angle of the robotand the offset of the robot. In the invention, a p3p algorithm is not adopted so that the redundant pitch angle and the roll angle of the robot which only needs two-dimensional plane navigation do notneed to be calculated, and a calculated pose is accurate.

Description

technical field [0001] The invention belongs to the field of computer vision, and in particular relates to a robot and a marker-based pose estimation method and device thereof. Background technique [0002] Pose estimation is an important field in computer vision, and it has many applications, such as augmented reality, virtual reality, and object spatial positioning (such as spatial pose estimation of UAVs). [0003] Commonly used pose estimation algorithms are generally divided into vision-based and sensor-based pose estimation algorithms. The vision-based pose estimation algorithm has gradually replaced the image-based pose estimation algorithm due to its low cost, anti-electromagnetic interference, and high accuracy. Sensor pose estimation. The vision-based pose estimation algorithm is divided into single-purpose and multi-purpose based algorithms. Compared with multi-purpose pose estimation algorithms, the single-purpose pose estimation algorithm has the advantages of ...

AI Technical Summary

Problems solved by technology

[0006] The object of the present invention is to provide a robot and its marker-based pose estimation method, device, and computer-readable storage medium, aiming to solve the problem of pitch angle calculated by the p3p algorithm for a robot that only needs two-dimensional plane navigation. and roll angle are redundant information, which causes the problem that the calculated pose error is too large

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