Pose estimation method and device based on rectangular identifier and robot

Abstract

The invention is applicable to the field of computer vision, and provides a pose estimation method and device based on a rectangular identifier and a robot. The method comprises the steps of carryingout distortion correction on image coordinates of the four corners of a rectangular sign through the internal parameters and the distortion parameters of a camera, outputting the four angular points after the distortion correction; randomly selecting three angular points from the four angular points after distortion correction to serve as solving points of the P3P algorithm, and the other corner point serving as a check point to generate four groups of points, for the case of the TS4, obtaining two sets of solutions for each set of points, carrying out verification through the remaining points, so as to obtain eight groups of solutions; and selecting the point with minimal reprojection error as the final estimated pose. Compared with the current P3P algorithm, in which three points are randomly selected to serve as calculating points and the remaining point as a verification point, the method has more theoretical completeness. Redundancy can not be caused; and the calculated pose is accurate.

Description

technical field [0001] The invention belongs to the field of computer vision, and in particular relates to a pose estimation method, device and robot based on a rectangle mark. 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

[0007] The object of the present invention is to provide a pose estimation method, device, computer-readable storage medium and robot based on a rectangular mark, aiming to solve the problem that if the PnP algorithm of TS1 is used for the rectangular mark, a certain degree of redundancy will be caused. As a result, the calculated pose error is too large.

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