quARtet Marker：一种用于鲁棒近正面姿态估计的3D打印多标签基准标记

中文摘要 AI 辅助

当必须识别和定位透明或反光物体时，机器人对实验室器皿的操作变得困难。编码平面基准标记是一种实用的改造方案：它们易于打印，且保持标记面平整可抓取。然而，单个平面标签在近正面视角下最不可靠，因为此时透视线索减弱。非平面几何形状能恢复这些线索，但会侵入平行爪夹持器必须接触的平整表面。我们的想法是在一个紧凑的占用空间内倾斜多个标签，使得即使标记面向相机，每个标签也能以非正面角度被看到。我们提出了quARtet标记，一种体现这一想法的3D打印基准标记：其四个倾斜AprilTags的所有检测角点都进入一次透视n点求解，并且一个共享配置定义了制造几何和检测器模型。由于倾斜会消耗平面面积，其三种布局在姿态估计一致性和可抓取性之间进行权衡。在机器人参考、相同设置固定相机的实验中，所有三种布局都将平均正面方向误差从单个平面标签的2.18度降低到0.24-0.47度，并将均方根位置误差从1.50毫米降低到0.17-0.20毫米。机器人安装相机的姿态保持测试在闭环视觉反馈下证实了这种分离。在相同条件下的摆动下降试验中，带有平坦接触条的两种布局以约2毫米的抓取内滑动保留物体，而没有平坦条的布局滑动了约100毫米。对于测试条件，结果支持一个规则：当姿态估计一致性占主导时使用无平坦条的布局，当标记面必须保持可抓取时使用带平坦条的布局。

英文摘要

Robotic manipulation of labware is difficult when transparent or reflective objects must be identified and localized. Coded planar fiducials are a practical retrofit: easy to print, they leave the marked face flat and graspable. Yet a single planar tag is least reliable in near-frontal views, where perspective cues fade. Non-planar geometries restore those cues but intrude on the flat face that a parallel-jaw gripper must contact. Our idea is to tilt multiple tags within one compact footprint, so that each tag is seen at a non-frontal angle even when the marker faces the camera. We propose the quARtet marker, a 3D-printable fiducial embodying this idea: all detected corners of its four tilted AprilTags enter one Perspective-n-Point solve, and a shared configuration defines the fabricated geometry and the detector model. Because tilting consumes flat area, its three layouts trade pose-estimation consistency against graspability. In robot-referenced, same-setup fixed-camera experiments, all three layouts reduced the mean frontal orientation error from 2.18 degree for a single planar tag to 0.24-0.47 degree and the root-mean-square position error from 1.50 to 0.17-0.20 mm. A robot-mounted-camera pose-hold test confirmed this separation under closed-loop visual feedback. In swing-down trials under identical conditions, the two layouts with flat contact strips retained the object, whereas the layout without flat strips slipped about a hundred times more than a single planar tag. For the tested conditions, the results support a rule: the layout without flat strips when pose-estimation consistency dominates, a layout with flat strips when the marked face must remain graspable.

发表机构

• JSR Corporation（JSR株式会社）
• Nara Institute of Science and Technology（奈良先端科学技术大学院大学）

机构由 AI 辅助整理，请以论文原文为准。