曲率をベースラインとして：二色ストライプマーカーによる円筒物体の単眼姿勢計測
Curvature as a Baseline: Monocular Pose Measurement of Cylindrical Objects with Dual Colour Stripe Markers
細い円筒物体の既知の曲率を利用した二色ストライプマーカーを提案し、単眼カメラでの姿勢計測、特に円筒軸まわりの回転（ロール）精度が曲率により向上することを解析とシミュレーションで示した。
著者: Jaesung Hong, Dong Won Lee
分類: cs.CV, cs.RO
原文アブストラクト
Thin cylindrical objects offer little space for planar markers. We propose a dual-colour-stripe marker that uses the known curvature of an object to improve pose measurement with a single camera. The boundary between two colours provides a long centre line, while dots and printed edges supply features at different depths. We analyse how this depth separation improves the estimation of rotation about the cylinder axis, or roll. For a camera-facing marker at 15 cm, the Cramér-Rao lower bound on roll standard deviation is 2.00°for a flat marker, 0.38°for a single curved marker and 0.21°for a wrap-around marker. Monte Carlo roll RMS errors are within about 10% of the corresponding standard-deviation bounds. A first-order relation connects the sagitta of the curved marker to the roll sensitivity provided by a stereo baseline. The analytical and simulation results explain how curvature improves monocular measurement and provide a basis for designing marker geometry.