Plane coding target for visual system and real-time pose measurement method thereof

Abstract

The invention discloses a plane coding target for a visual system and a real-time pose measurement method thereof, the plane coding target comprises coding primitives, small coding blocks, a coding template, a minimum identification unit pattern and a coding pattern, the plane coding target is provided with a plurality of coding primitives, and each coding primitive has unique first coding numerical values which are different from one another; the small coding block comprises four coding elements, the four coding elements are distributed in the same rectangle ABCD and are not overlapped, the intersection point O of two diagonal lines in the rectangle ABCD is the center of the small coding block, the small coding block has a second coding numerical value, and the second coding numerical value is larger than the first coding numerical value. The second coding numerical value is associated with the first coding numerical value of the coding element contained in the coding small block. The plane coding target has the advantages of being high in precision, large in range, high in real-time performance and the like, real-time pose measurement can be achieved only by collecting any local coding pattern meeting the recognition requirement, and the problem that an existing visual pose measurement system cannot give consideration to high precision, large range and high real-time performance at the same time is solved.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a plane coding target used in a vision system and a real-time pose measurement method thereof. Background technique [0002] In the field of computer vision measurement technology, visual pose measurement mainly includes monocular vision pose measurement, binocular vision pose measurement and multi-eye vision pose measurement. The monocular vision pose measurement has the advantages of simple structure, easy implementation, and strong real-time performance, and is widely used in industrial fields such as object motion posture tracking, robotic arm end guidance, and automobile manufacturing precision testing. A typical monocular vision measurement system includes targets, visual image acquisition devices, computers and other processing devices; among them, common targets include checkerboard, circular array targets, two-dimensional code targets, circular coding targets, po...

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Problems solved by technology

[0004] Another object of the present invention is to propose a real-time pose measurement method for a plane coded target used in a vision system, which can realize real-time pose measurement only by collecting any local coded pattern that meets the recognition requirements, and solves the problem of existing visual problems. The pose measurement system cannot take into account the problems of high precision, large range and strong real-time performance at the same time

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