Stereo Marker Pose Tracking for Towed Machine Positioning
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Solution Overview
Problem
Determining the position and attitude of towed machines, such as agricultural sprayers, is challenging due to their independent movement from the tractor, requiring multiple expensive electronic devices for accurate compliance with regulations.
Innovation Solution
A method and apparatus using a stereo camera to acquire images of markers with encoded information, determining the marker's position and attitude within a local coordinate system, and subsequently the object's position and attitude in a global coordinate system, allowing for cost-effective simultaneous tracking of multiple machines.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple electronic devices are used to determine position and attitude of multiple machines, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
A single stereo camera system is designed to perform multiple functions: it can track markers on different machines simultaneously, determine both position and attitude information, and serve various agricultural applications (sprayers, planters, etc.) with one unified device rather than requiring separate electronic devices for each machine
Solution Approach 2:
Instead of placing expensive electronic devices on each machine, the system uses visual markers (encoded patterns) as simplified copies or representations of the machines. The stereo camera captures images of these markers, and the marker positions serve as proxies for determining the actual machine positions and attitudes, greatly reducing hardware requirements
2Measurement precision
If electronic devices are mounted on each towed machine, then measurement precision is improved, but cost increases
Solution Approach 1:
The system replaces expensive electronic positioning devices with inexpensive visual markers that can be easily manufactured and attached to machines. The markers are simple printed patterns that cost minimal amounts to produce, yet provide sufficient information when captured by the stereo camera system
Solution Approach 2:
The patent substitutes electronic/mechanical positioning systems with an optical vision-based system. Instead of using expensive electronic sensors, gyroscopes, or mechanical encoders on each machine, the system uses a stereo camera to capture images of visual markers, processing these images computationally to derive position and attitude information
3Device complexity
If a single stereo camera is used to track multiple machines, then device complexity is reduced, but measurement precision may worsen
Solution Approach 1:
The system segments the tracking task by assigning unique encoded markers to different machines and using the stereo camera to capture and process images of multiple markers simultaneously. The image processing algorithm segments and identifies each marker individually, determining the position and attitude of each machine independently even when multiple machines are tracked in the same field of view
Data Source
AI summary
A method and apparatus for determining a position and attitude of a marker having encoded information includes the step of acquiring an image of a marker by a stereo camera. A center of the marker is determined and then a position of the marker is determined based on the center of the marker. A plurality of vertices on the marker about the center of the marker are then determined. Using the plurality of vertices, a pitch, roll, and heading of the marker are determined. An attitude of the marker is determined based on the pitch, roll, and heading of the marker. The method and/or apparatus for determining a position and attitude of a marker can be used in various applications to determine the position and attitude of objects on which the marker is located.