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A method of visual measurement based on QR code in navigation and positioning of closed-type orchard

机译：一种基于QR码的QR码在闭合果园的定位中的视觉测量方法

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摘要

To realize the navigation and positioning of agricultural robot in closed-type orchard, this paper presented a method of visual measurement based on QR code. Firstly, we constructed a monocular vision measurement model based on the QR code target, then extracted the structural feature points of the QR code target in the orchard by image processing, and combined camera calibration and vision measurement gaining the relative pose between the camera and the QR code target. According to the results of experiments, this method boasts good real-time performance as the longest consuming time of applying this method to process an image for visual measurement is 0.23ms, in addition, the repeatability accuracy tests show that the maximum translation deviation is less than 3.2cm and the maximum rotation deviation is less than 2.9 ° in the range of measurement.
机译：为了实现闭合果园农业机器人的导航和定位，本文介绍了一种基于QR码的视觉测量方法。首先，我们通过图像处理构建了基于QR码目标的单眼视觉测量模型，然后通过图像处理提取了果园中的QR码目标的结构特征点，以及相机和相机之间的相对姿势的组合相机校准和视觉测量。 QR码目标。根据实验结果，该方法具有良好的实时性能，作为应用该方法处理用于视觉测量的图像的最长耗电时间为0.23ms，此外，可重复性精度测试表明最大转换偏差较少在测量范围内比3.2cm和最大旋转偏差小于2.9°。

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