The visual fiducial based pose estimation of mobile manipulator in large-scale components manufacturing

被引：3

作者：

Gong, ZeYu ^{[1
]}

Yu, SuPu ^{[1
]}

Tao, Bo ^{[1
]}

Gu, ZhenFeng ^{[1
]}

Wang, JinShan ^{[1
]}

Ding, Han ^{[1
]}

机构：

[1] Huazhong Univ Sci & Technol, Sch Mech Sci & Engn, State Key Lab Digital Mfg Equipment & Technol, Wuhan 430074, Peoples R China

来源：

SCIENCE CHINA-TECHNOLOGICAL SCIENCES | 2021年 / 64卷 / 10期

基金：

中国博士后科学基金; 中国国家自然科学基金;

关键词：

pose estimation; orientational dilution of precision; mobile manipulator; visual fiducial; layout optimization; COMPLEX COMPONENTS; MEASUREMENT SYSTEM; VALIDATION; TRACKING;

D O I：

10.1007/s11431-021-1849-2

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The accurate estimation of the end-effector's pose in large operating spaces is the key for the mobile manipulator to realize efficient manufacturing of large and complex components. We propose a novel pose tracking method in large-range using visual fiducial markers, and further propose the layout optimization method for the encoded fiducial markers. A metric named orientational dilution of precision (ODOP) is proposed to evaluate the magnification of the pose estimation error compared with the measurement error of the coded fiducial markers. The distribution pattern of the coded markers is analyzed based on ODOP, and the square-shaped layout is determined to be a satisfactory distribution pattern for the minimum positioning unit of markers, and the side length of the square-shaped layout is further selected. The simulations and experiments prove the effectiveness of the ODOP index. Finally, the square-shaped layout and the designed distribution density for positioning coded markers are adopted to realize the high-precision measurement of large components by the mobile manipulator.

引用

页码：2186 / 2199

页数：14

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