A high-accuracy visual marker based on a microlens array

Visual markers are useful assistive tool for service robots. Existing planar visual markers have poor accuracy in pose estimation, especially in frontal direction. We solved this problem by a novel principle using a microlens array. The marker displays a changing moiré pattern according to the visu...

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Hauptverfasser:	Tanaka, H., Sumi, Y., Matsumoto, Y.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Accuracy Arrays Estimation Fabrication Lenses Microoptics Visualization
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creator	Tanaka, H. Sumi, Y. Matsumoto, Y.
description	Visual markers are useful assistive tool for service robots. Existing planar visual markers have poor accuracy in pose estimation, especially in frontal direction. We solved this problem by a novel principle using a microlens array. The marker displays a changing moiré pattern according to the visual-line direction. We can extract the pose information from the pattern by image processing using a single camera. The developed marker and the processing algorithm enable high-accuracy pose estimation even by observation from frontal direction. We verified its superiority to the conventional method by some validation tests. The marker is an extension of a marker we previously developed, and is more easily fabricated.
doi_str_mv	10.1109/IROS.2012.6386052
format	Conference Proceeding
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Existing planar visual markers have poor accuracy in pose estimation, especially in frontal direction. We solved this problem by a novel principle using a microlens array. The marker displays a changing moiré pattern according to the visual-line direction. We can extract the pose information from the pattern by image processing using a single camera. The developed marker and the processing algorithm enable high-accuracy pose estimation even by observation from frontal direction. We verified its superiority to the conventional method by some validation tests. 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subjects	Accuracy Arrays Estimation Fabrication Lenses Microoptics Visualization
title	A high-accuracy visual marker based on a microlens array
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