2D Optical-Tracking Marker for 6-DOF Pose Determination
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Solution Overview
Problem
Current methods for determining the 6-DOF pose of an object in space using optical-tracking markers are limited by accuracy, detection speed, and cost, often requiring multiple markers and cameras, which can be inefficient and costly.
Innovation Solution
A method and system utilizing a 2D optical-tracking marker with a circular contour and a marker pattern featuring a continuous intensity profile, allowing for the determination of the 6-DOF pose using a single camera and marker, by analyzing the elliptical representation of the marker in the image, which includes parameters such as semi-major axis, semi-minor axis, ellipse center point, and orientation, to achieve high accuracy and cost-effectiveness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple optical-tracking markers and cameras are used to determine 6-DOF pose, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The marker pattern is segmented into multiple concentric circles with different radial frequencies, where each circle provides information about different aspects of the pose. This segmentation allows a single marker to encode multiple degrees of freedom independently, enabling 6-DOF pose determination with minimal hardware.
Solution Approach 2:
The patent transitions from using multiple discrete markers in 3D space to using a single marker with a 2D pattern that encodes 6-DOF information through concentric circular structures. The concentric circles add a radial dimension to the marker design, allowing encoding of orientation and position information that would traditionally require multiple separate markers.
2Measurement precision
If multiple optical-tracking markers and cameras are used to determine 6-DOF pose, then measurement precision is improved, but cost increases
Solution Approach 1:
Instead of using multiple physical markers and cameras, the patent creates a virtual representation of multiple markers through a single marker with a coded concentric circle pattern. The marker pattern serves as a copy that encodes the information normally requiring multiple hardware components, significantly reducing implementation cost while maintaining measurement precision.
Solution Approach 2:
The single optical-tracking marker performs multiple functions simultaneously: it provides position information, orientation information, and serves as a reference for coordinate transformation. The concentric circle pattern enables the marker to encode 6-DOF pose data, making it a universal solution that replaces multiple specialized components.
3Ease of manufacture
If conventional marker patterns are used, then ease of manufacture is improved, but measurement precision deteriorates
Solution Approach 1:
The patent employs concentric circular patterns instead of conventional linear or geometric marker designs. The curved concentric circles provide superior geometric properties for pose estimation, with their symmetric structure enabling more accurate determination of 3D position and orientation. The circular geometry maintains ease of manufacture while significantly improving measurement precision through better geometric constraints.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables precise and efficient determination of the 6-DOF pose of an object in space with reduced hardware requirements, improving accuracy and reducing costs by leveraging the characteristics of the elliptical representation of the marker pattern, allowing for reliable tracking with minimal equipment.
Implementation Method 1
capturing an image of said 2D optical-tracking marker attached to the object by using the camera
Data Source
AI summary
A method and a system for determining a 6-DOF-pose of an object in space use an optical-tracking marker attached to the object. The marker comprises an inner marker area having a circular contour with a known radius and a marker pattern defining at least one characteristic marker feature. A camera image of the marker typically shows an elliptical representation of the circular contour and the marker pattern. Based on the image, parameters describing the elliptical representation are determined and the 6-DOF-pose of the marker in space is derived using the parameters.