Robot Pose Calibration Using Camera Trajectory Curve Fitting
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Solution Overview
Problem
Existing robot positioning methods based on labels are prone to significant errors due to changes in robot setup during daily use, leading to inaccuracies in pose information determination.
Innovation Solution
A method and apparatus that determine pose information by fitting a target curve to the motion trajectory of an image module relative to a target label, calculating coordinate offsets, and determining relative distances to accurately assess the robot's pose, even with offsets between the image module and the robot.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If robot positioning is based on label acquisition using robot camera, then positioning can be achieved, but positioning accuracy deteriorates when offset occurs between camera and robot body
Solution Approach 1:
The system performs preliminary action by acquiring the motion trajectory of the image module before actual positioning operations. By pre-capturing the trajectory data when the robot moves to a known position, the system establishes a reference curve that accounts for any installation offsets. This preliminary measurement enables subsequent positioning operations to compensate for camera-robot body misalignment, thereby maintaining high positioning accuracy and reliability.
2Ease of operation
If camera is installed on robot body, then robot can acquire label position, but installation offsets cause errors in pose information determination
Solution Approach 1:
The system implements feedback by using the acquired motion trajectory to generate a reference curve, then comparing actual camera positions against this curve. The trajectory data feedback allows the system to calculate accurate pose information by referencing the pre-established motion pattern, compensating for any installation offsets between the camera and robot body, thus maintaining measurement precision while preserving operational ease.
3Measurement precision
If robot moves to known position for positioning, then pose information can be determined, but installation offsets cause large errors
Solution Approach 1:
The system introduces an intermediary element - the motion trajectory curve - that mediates between the robot's physical movement and the camera's position measurements. By using this trajectory curve as an intermediate reference, the system can determine accurate pose information without directly relying on precise camera-robot body alignment, thereby improving measurement precision while avoiding the complexity of complex calibration systems.
Data Source
AI summary
Provided are a method and apparatus for determining pose information of a robot, a device and a medium. The method includes: fitting a target curve according to a motion trajectory of an image module relative to a target label when the robot rotates; determining a coordinate offset of the image module relative to a body of the robot according to the target curve, and determining a relative distance between the image module and the target label according to the image module; and determining the pose information of the robot according to the coordinate offset and the relative distance.