Passive Binocular Optical Motion Capture Technology Under Complex Illumination  

作　　者：FU Yujia ZHANG Jian ZHOU Liping LIU Yuanzhi QIN Minghui ZHAO Hui TAO Wei 付堉家;张健;周丽平;刘沅秩;秦明辉;赵辉;陶卫

机构地区：[1]School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China [2]Shanghai Satellite Engineering Research Institute,Shanghai 200240,China

出　　处：《Journal of Shanghai Jiaotong university(Science)》2025年第2期352-362,共11页上海交通大学学报(英文版)

基　　金：the National Key Research and Development Program of China(No.2018YFB1305005)。

摘　　要：Passive optical motion capture technology is an effective mean to conduct high-precision pose estimation of small scenes of mobile robots;nevertheless,in the case of complex background and stray light interference in the scene,due to the infuence of target adhesion and environmental reflection,this technology cannot estimate the pose accurately.A passive binocular optical motion capture technology under complex illumination based on binocular camera and fixed retroreflective marker balls has been proposed.By fixing multiple hemispherical retrorefective marker balls on a rigid base,it uses binocular camera for depth estimation to obtain the fixed position relationship between the feature points.After performing unsupervised state estimation without manual operation,it overcomes the infuence of refection spots in the background.Meanwhile,contour extraction and ellipse least square fitting are used to extract the marker balls with incomplete shape as the feature points,so as to solve the problem of target adhesion in the scene.A FANUC m10i-a robot moving with 6-DOF is used for verification using the above methods in a complex lighting environment of a welding laboratory.The result shows that the average of absolute position errors is 5.793mm,the average of absolute rotation errors is 1.997°the average of relative position errors is 0.972 mm,and the average of relative rotation errors is 0.002°.Therefore,this technology meets the requirements of high-precision measurement in a complex lighting environment when estimating the 6-DOF-motion mobile robot and has very significant application prospects in complex scenes.

关 键 词：complex scenes pose estimation binocular camera fixed retroreflective target least square fitting 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]