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A high-precision and high-speed positioning label and positioning method for visual servoing

A positioning tag and visual servo technology, applied in the field of positioning, can solve the problems of not meeting the needs of real-time visual servoing, low positioning accuracy of positioning tags, high detection failure, etc., to achieve the effect of improving the effective detection distance, improving positioning accuracy, and improving accuracy

Active Publication Date: 2022-05-17
BINHAI IND TECH RES INST OF ZHEJIANG UNIV
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Problems solved by technology

[0004] In view of this, the present invention aims to propose a high-precision and high-speed positioning label and positioning method for visual servoing to solve the problem of low positioning accuracy, long time consumption, and inability to meet real-time visual servoing in specific scenarios in the prior art. Demand and high detection failures

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  • A high-precision and high-speed positioning label and positioning method for visual servoing

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Embodiment Construction

[0059] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0060] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0061] like figure 1 As shown, a high-precision and high-speed positioning label for visual servoing. The positioning label is square, the inner color is white, and the outer color is a rectangular frame with black color. The width of the four sides of the rectangular frame is equal. Four white spacer bars are set in the middle of the upper, lower, left, and right borders of the border, and the width ratio of the four borders "black-white-black" is 3:2:3. The bottom end of the white spacer bar of the right frame and the right end of the white spacer bar in the lower frame are connected to each other, the rectangular frame contains N circular labels, and N>4, and the circular label inclu...

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Abstract

The present invention provides a high-precision and high-speed positioning label and positioning method for visual servoing. The positioning label is square, the outside is a black rectangular frame, the internal color is white, and the width of the four sides of the rectangular frame is equal. Four white spacer bars are respectively set in the middle of the upper, lower, left and right four frames of the rectangular frame, and the width ratio of "black-white-black" is 3:2:3, and the white spacer of the right frame The bottom end of the bar is connected to the right end of the white spacer bar in the lower frame, and the rectangular frame contains N circular labels, and N>4. The present invention scans, calculates, decodes, etc. the positioning labels, Implement localization tag pose estimation. The positioning tag described in the present invention has both positioning and encoding capabilities, more robust and accurate visual detection and recognition, and has the advantages of accurate pose estimation, less time-consuming, and a wide application range of the tag.

Description

technical field [0001] The invention belongs to the technical field of positioning, and in particular relates to a high-precision and high-speed positioning label and a positioning method for visual servoing. Background technique [0002] With the advancement of the smart manufacturing 2025 plan, more and more industrial scenes and positions have realized machine substitution, such as warehousing, material handling, processing and assembly, etc. In the process of moving and production, the robot needs to perform high-precision and fast pose estimation of itself and the work object, so as to meet the high-precision and high-quality production requirements of modern factories. The vision-based positioning method is generally realized by means of the salient features on the target object or artificially arranged salient features. First, the relevant methods of machine vision are used to achieve accurate detection of feature points, and then the visual imaging principle and the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K7/14
CPCG06K7/1443G06K7/1452G06K7/1417
Inventor 赵永生屈帅龙彭林鹏翁芳陈福隆
Owner BINHAI IND TECH RES INST OF ZHEJIANG UNIV
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