3D Marker Detection for Parameter-Free Robot Teaching
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Solution Overview
Problem
Existing marker detection systems require complex camera parameter settings to determine three-dimensional coordinates from two-dimensional images, necessitating cumbersome preparations.
Innovation Solution
A marker detection apparatus that utilizes a 3D camera to detect markers by detecting three-dimensional planes, projecting point group data onto two-dimensional planes, and performing pattern matching to calculate three-dimensional coordinates without requiring prior camera parameter settings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a two-dimensional camera is used to detect a marker, then the device complexity is reduced, but camera parameters must be set in advance which increases the preparation time and operational complexity
Solution Approach 1:
A coordinate conversion table is introduced as an intermediary between the two-dimensional camera image and the three-dimensional space coordinates. This table pre-stores the correspondence relationships, allowing the system to directly convert image coordinates to space coordinates without complex real-time calculations or camera parameter settings, thus simplifying the operation while maintaining accuracy
Solution Approach 2:
The coordinate conversion table is prepared in advance through calibration processes that establish the mapping between two-dimensional image coordinates and three-dimensional space coordinates. This preliminary action eliminates the need for complex camera parameter settings during actual marker detection operations, reducing preparation time and operational complexity
2Measurement precision
If camera parameters are set in advance to calculate three-dimensional positions, then measurement precision is improved, but the device complexity and preparation requirements increase
Solution Approach 1:
Instead of performing complex real-time three-dimensional coordinate calculations requiring precise camera parameters, the system creates a coordinate conversion table that copies and stores the spatial correspondence relationships in advance. This table serves as a lookup reference that maintains measurement precision while eliminating the need for complex camera parameter configurations
Solution Approach 2:
The complex mechanical/mathematical calculation system based on camera parameters and three-dimensional coordinate geometry is replaced with a simplified lookup system using the pre-prepared coordinate conversion table. This substitution maintains measurement accuracy while significantly reducing device complexity and configuration requirements
Data Source
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AI summary
Provided is a marker detection apparatus able to easily detect the position of a marker and a robot teaching system using the same. A marker detection apparatus includes: a three-dimensional plane detection unit that detects a three-dimensional plane serving as a plane in a three-dimensional space on a basis of point group data acquired by a 3D camera; a two-dimensional plane image generation unit that projects point group data constituting the detected three-dimensional plane in a perpendicular direction based on the three-dimensional plane, thereby generating a two-dimensional plane image; a marker detection unit that detects a marker from the generated two-dimensional plane image; and a marker position calculation unit that, for the detected marker included in the two-dimensional plane image, calculates three-dimensional coordinates on the three-dimensional plane.