基于Apriltag的室外抗干扰识别定位系统研究

doi:10.16180/j.cnki.issn1007-7820.2023.11.008

Abstract

Abstract:

Image recognition and positioning technology is the key to realize industrial automation and intelligence. However,in practical applications, the target is often partially occluded in the outdoor interference environment, which results in the invalidation of the image recognition and positioning system. To solve the problem of invalidation of image recognition and positioning system in outdoor interference environment, an outdoor anti-jamming recognition and positioning system based on Apriltag is proposed to replace the conventional system. Combining Apriltag feature with monocular vision principle, an image recognition and positioning system based on Apriltag is established. The Apriltag detection algorithm and the occluded target recognition algorithm based on SURF feature detection are used to achieve all-weather and anti-interference outdoor target recognition and positioning. The experimental system is established with the positioning target based on Apriltag, industrial camera and industrial computer. The experimental results show that the positioning errors of the XY plane are 1.44 mm and 1.36 mm, respectively, the recognition time is 90 ms, The error fluctuation under repeated experiments is less than 0.5 mm, which indicates that the recognition positioning system has high accuracy, rapidity and stability.

Key words: image recognition, Apriltag, occlusion targets, identify the location, SURF algorithm, feature detection, disturbing the environment, monocular vision

CLC Number:

TP249

DAI Jinhong,XIANG Zhenwen,YU Huifu. Study on Outdoor Anti-Jamming Identification and Location System Based on Apriltag[J].Electronic Science and Technology, 2023, 36(11): 47-55.

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工况	X方向误差	Y方向误差	X最大波动	Y最大波动
工况	均值/mm	均值/mm	幅度/mm	幅度/mm
光照	1.80	1.15	0.44	0.39
淋雨	1.67	1.36	0.50	0.43
遮挡	2.11	2.70	0.48	0.48
多靶标	0.65	0.58	0.46	0.42
杂乱背景	0.41	0.55	0.26	0.27
反光背景	0.51	0.53	0.31	0.35

Study on Outdoor Anti-Jamming Identification and Location System Based on Apriltag

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