High Accuracy and Wide Range Recognition of Micro AR Markers with Dynamic Camera Parameter Control

摘要

This paper presents a novel dynamic camera parameter control method for the position and posture estimation of highly miniaturized AR markers (micro AR markers) using a low-cost general camera. The proposed method captures images from the camera at each cycle and detects markers from these images. Subsequently, it performs iterative calculations of the marker’s position and posture to converge them to a specified accuracy while dynamically updating the camera’s zoom, focus, and other parameter values based on the detected marker’s depth distances. For a 10 mm square micro AR marker, the proposed system demonstrated recognition accuracy better than ±1.0% for depth distance and 2.5∘ for posture angle, with a maximum recognition range of 1.0 m. In addition, the iterative calculation time was 0.7 s for the initial detection of the marker. These experimental results indicate that the proposed method and system can be applied to the precise robotic handling of small objects at a low cost.