设计了一种用于圆锥体位姿测量的曲面标记。确定了用于圆锥体位姿测测量的曲面标记设计原则;提出了将圆锥体展开成扇形并将扇形等分成6个子扇区的设计方案;以子扇区为标记设计单元,利用梯形实现点面特征的联合设计及标记的赋形设计,且保证每个子扇区具有58个角点;结合圆锥体几何及运动特征为每个子扇区设计了唯一识别编码。仿真结果表明:圆锥体在不同位姿下(圆锥体顶点在视场内),从设计的标记上能提取不少于6个角点特征且角点不完全共线,满足圆锥体位姿测量要求。

A curved surface marker, which can be used for cone pose measurements, is designed. The design principles of the curved surface marker are proposed. The cone is flattened into a circular sector and then the sector is divided into six equal sub-sectors, which are used as basic design units. Trapezoids are applied to fulfill the joint design of point features and area features, and to finish the form-giving design of the marker, guaranteeing that there are 58 corners in each sub-sector. Combining the geometric features with the movement features of the cone, a unique code is provided for each sub-sector. The simulation results show that more than five non-fully collinear corners can be extracted and recognized under various poses (with the cone top appears in FOV of both cameras simultaneously). The designed marker can satisfactory the requirements of cone pose measurement.