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HIGH-PRECISION AND HIGH-SPEED POSITIONING LABEL AND POSITIONING METHOD FOR VISUAL SERVO
HIGH-PRECISION AND HIGH-SPEED POSITIONING LABEL AND POSITIONING METHOD FOR VISUAL SERVO
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机译：视觉伺服的高精度，高速定位标签及定位方法
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#$%^&*AU2019222802A120201105.pdf#####ABSTRACT The disclosure provides a high-precision and high-speed positioning label and positioning method for visual servo. The positioning label is square, an outer part is a 5 rectangular frame with a black color, and an inner part is in a white color. The widths of four sides of the rectangular frame are equal; four white spacing bars are respectively arranged in an upper frame, a lower frame, a left frame and a right frame of the rectangular frame, and width ratios of "black-white-black" are 3: 2: 3; the bottom end of the white spacing bar of the right frame and the right end of the white 10 spacing bar in the lower frame are communicated; and the rectangular frame comprises N circular labels, and N4. The disclosure realizes estimation of a pose of the positioning label by scanning, calculating and decoding the positioning label. The positioning label of the disclosure has positioning and encoding capabilities, is more robust and accurate in visual detection and recognition, and has the advantages of 15 accurate pose estimation, low time consumption and wide application range.1/3 0@@@ 0000 000@@ FIG. 12/3 S1 Respectively downsampling the length and the width of an original picture to 1/2 of an original size S2 Converting the picture from a three-channel RGB image to a single-channel Gray image S3 Binarizing the image S4 Conducting morphological processing on the image S5 Searching for a suspected feature point of the frame through progressive scanning and verifying whether the suspected feature point is a target feature point S6 Acquiring and optimizing a location of the positioning label S7 Detecting corners of the positioning label 58 Adjusting a sequence of the corners of the positioning label 59 Acquiring a center point of the circular label S10 Acquiring encoding information of the positioning label Si Estimating a pose of the positioning label FIG. 2
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