Marker Edge Detection via Color Property Thresholds
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Solution Overview
Problem
Existing edge detection methods struggle to precisely identify boundaries in markers due to variations in color property patterns caused by chromatic aberrations in camera optics, leading to inaccurate boundary detection.
Innovation Solution
A marker design with N adjacent areas, where each boundary has a significant change in color property greater than a first threshold and a consistent pattern of change within areas, allowing for precise identification of boundaries even in images affected by chromatic aberrations, using a camera that captures images with a reference line intersecting the optical axis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional markers with simple color blocks are used, then the marker structure is simple and easy to manufacture, but chromatic aberrations cause variations in color property patterns leading to inaccurate boundary detection
Solution Approach 1:
The marker is divided into multiple first areas arranged adjacent to one another in a predetermined direction, with each area having controlled color property characteristics. This segmentation allows the marker to provide multiple boundary detection opportunities while maintaining a relatively simple overall structure.
Solution Approach 2:
Each first area is designed with specific local color property characteristics where the amount of change is less than or equal to a second threshold value, while boundaries between areas have color property changes greater than or equal to a first threshold value. This local quality control ensures consistent boundary detection across different areas despite chromatic aberrations.
2Reliability
If threshold values are set to detect boundaries in conventional markers, then edge detection can be performed, but chromatic aberrations cause erroneous detection and inconsistent results across different camera orientations
Solution Approach 1:
The marker design incorporates controlled changes in color properties at boundaries (greater than or equal to a first threshold value) and within areas (less than or equal to a second threshold value). This parameter control creates distinct detectable patterns that remain consistent despite chromatic aberrations, allowing reliable boundary identification.
Solution Approach 2:
The edge detection device uses the consistent color property change patterns at boundaries to identify edges, and this information can be used to verify detection accuracy. The repeated pattern across multiple areas provides feedback that confirms correct boundary detection and reduces erroneous results.
3Measurement precision
If multiple areas with consistent color patterns are used in the marker, then boundary detection accuracy is improved, but the marker design and manufacturing process becomes more complex
Solution Approach 1:
The marker consists of N first areas arranged adjacent to one another, where N is an integer greater than or equal to 3. This segmentation into multiple identical or similar areas provides consistent boundary detection patterns while maintaining a relatively simple repetitive structure that can be manufactured using standard techniques.
Solution Approach 2:
Each first area is designed with homogeneous color property characteristics where the amount of change is less than or equal to a second threshold value. This homogeneity within areas, combined with consistent boundary characteristics, simplifies the manufacturing process while ensuring reliable boundary detection across all areas.
Data Source
AI summary
A marker includes N (N is an integer greater than or equal to 3) first areas that are arranged adjacent to one another in a predetermined direction. At each of N−1 first boundaries between the N first areas, an amount of change in a color property corresponding to positions in the predetermined direction is greater than or equal to a first threshold value, in each of the N first areas, the amount of change in the color property corresponding to positions in the predetermined direction is less than or equal to a second threshold value that is less than the first threshold value, and a pattern of change in the color property corresponding to positions in the predetermined direction is common among the N first areas.