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...

Examples

Embodiment Construction

[0036] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0037] In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection", "connection" and "setting" should be understood in a broad sense, for example, it can be a fixed connection, or It can be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components. Those of o...

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...

Examples

Embodiment Construction

[0036] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0037] In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection", "connection" and "setting" should be understood in a broad sense, for example, it can be a fixed connection, or It can be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components. Those of o...

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