Planar Marker With Asymmetric Attitude Inversion Patterns
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Solution Overview
Problem
Conventional planar markers used in Augmented Reality and robotics face challenges in uniquely estimating attitude due to their cyclic and symmetrical configuration, limiting accurate estimation to face-to-face positions and angles.
Innovation Solution
The introduction of attitude inversion detection patterns, such as transparent cylindrical bodies with colored sections, allows for orthogonal detection of visual line angles around the X and Y axes, enabling unique attitude estimation across a wider range of angles by switching the positions of white and black sections based on the visual line angle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a planar marker with RAS marker units is used, then attitude can be estimated within a limited angular range, but the estimation becomes uncertain outside this range due to cyclic and symmetrical configuration
Solution Approach 1:
The patent introduces asymmetric attitude inversion detection patterns (transparent cylindrical bodies with colored sections at specific positions) alongside the conventional symmetric RAS marker units. This asymmetric configuration allows the system to distinguish between different angular positions that would otherwise appear identical due to the cyclic symmetry of the RAS markers alone, thereby extending unique attitude estimation beyond the limited face-to-face angular range.
2Ease of manufacture
If the planar marker configuration is kept simple, then manufacturing is easier, but attitude estimation precision is reduced due to ambiguous projection interpretations
Solution Approach 1:
The patent merges the conventional RAS marker units with additional attitude inversion detection patterns (transparent cylindrical bodies with colored sections) into a single integrated planar marker structure. This combination allows the marker to maintain relative manufacturing simplicity while providing enhanced attitude estimation precision through the complementary information provided by the additional patterns.
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 solution provides a more accurate and wider-range attitude estimation by detecting slight changes in the visual line angle, enhancing the precision of attitude determination in various observational angles.
Implementation Method 1
transparent cylindrical bodies with colored sections, allows for orthogonal detection of visual line angles around the X and Y axes
Data Source
Figure 1~2
Figure 3~5A
Figure 5B~6
AI summary
In order to provide a means to uniquely estimate the attitude in a wider range of angles to thereby realize a more accurate attitude estimate, a planar marker 1 is provided. The planar marker 1 includes a planar visual marker MA having a two-dimensional pattern code and at least two attitude inversion detection patterns Fx and Fy each consisting of a transparent cylindrical body 2 having a pattern on the side face within the range of 180 degrees around the central axis ra and being provided so as to be orthogonal to each other on the same plane as that of planar visual marker MA. A marker is provided that includes at least one attitude inversion detection pattern F7. The attitude inversion detection pattern F7 consists of the planar visual marker MA and a transparent spherical body 20 having a pattern on a hemispherical surface and is provided on the same plane as that of the planar visual marker MA.