Methods for determining spatial position and production objects orientation based on the proposed fiducial markers for technical vision system

An analytical review of existing methods for positioning by fiducial markers using technical vision is presented in the article. Their advantages and disadvantages are shown. A new label based on standard ArUco with additional elements and effective algorithms for calculating the coordinates of objects in space obtained from a group of fiducial labels with different orientations and positions is proposed. This allows one to reduce the average positioning error. It was shown using a group of synthetic tests and confirmed by a full-scale experiment using the KUKA KR3 R540 robotic manipulator, which allows one to accurately change the orientation of the marker template and automate the photography process. In comparison with standard methods for determining the position of objects in space (based on generally accepted ArUco marks), the new algorithm together with the proposed marker can reduce the average error in determining positions in space by 35–67% when using markers with a side of 32 mm.