Numerical Computation-Based Position Estimation for QR Code Object Marker: Mathematical Model and Simulation

Providing position and orientation estimations from a two-dimensional (2D) image is challenging, as such images lack depth information between the target and the automation system. This paper proposes a numerical-based monocular positioning method to determine the position and orientation of a singl...

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Vydáno v:	Computation Ročník 10; číslo 9; s. 147
Hlavní autoři:	Teoh, Mooi Khee, Teo, Kenneth T. K., Yoong, Hou Pin
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	Basel MDPI AG 01.08.2022
Témata:	3D positioning Apexes Augmented reality Automation Calibration Cameras Codes Estimation theory Image processing Localization machine vision Markers Mathematical models Methods Numerical analysis numerical method Numerical models Orientation pinhole imaging Pinholes pose estimation Position measurement QR code marker Robots Rotation Simulation Vision systems Malaysia
ISSN:	2079-3197, 2079-3197
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Abstract	Providing position and orientation estimations from a two-dimensional (2D) image is challenging, as such images lack depth information between the target and the automation system. This paper proposes a numerical-based monocular positioning method to determine the position and orientation of a single quick response (QR) code object marker. The three-dimensional (3D) positional information can be extracted from the underdetermined system using the QR code’s four vertices as positioning points. This method uses the fundamental principles of the pinhole imaging theory and similar triangular rules to correspond the QR code’s corner points in a 3D environment to the 2D image. The numerical-based model developed with suitable guessing parameters and correct updating rules successfully determines the QR code marker’s position. At the same time, an inversed rotation matrix determines the QR code marker’s orientation. Then, the MATLAB platform simulates the proposed positioning model to identify the maximum rotation angles detectable at various locations using a single QR code image with the known QR code’s size and the camera’s focal length. The simulation results show that the proposed numerical model can measure the position and orientation of the tilted QR code marker within 30 iterations with great accuracy. Additionally, it can achieve no more than a two-degree angle calculation error and less than a five millimeter distance difference. Overall, more than 77.28% of the coordinate plane simulated shows a converged result. The simulation results are verified using the input value, and the method is also capable of experimental verification using a monocular camera system and QR code as the landmark.
AbstractList	Providing position and orientation estimations from a two-dimensional (2D) image is challenging, as such images lack depth information between the target and the automation system. This paper proposes a numerical-based monocular positioning method to determine the position and orientation of a single quick response (QR) code object marker. The three-dimensional (3D) positional information can be extracted from the underdetermined system using the QR code’s four vertices as positioning points. This method uses the fundamental principles of the pinhole imaging theory and similar triangular rules to correspond the QR code’s corner points in a 3D environment to the 2D image. The numerical-based model developed with suitable guessing parameters and correct updating rules successfully determines the QR code marker’s position. At the same time, an inversed rotation matrix determines the QR code marker’s orientation. Then, the MATLAB platform simulates the proposed positioning model to identify the maximum rotation angles detectable at various locations using a single QR code image with the known QR code’s size and the camera’s focal length. The simulation results show that the proposed numerical model can measure the position and orientation of the tilted QR code marker within 30 iterations with great accuracy. Additionally, it can achieve no more than a two-degree angle calculation error and less than a five millimeter distance difference. Overall, more than 77.28% of the coordinate plane simulated shows a converged result. The simulation results are verified using the input value, and the method is also capable of experimental verification using a monocular camera system and QR code as the landmark.
Audience	Academic
Author	Teo, Kenneth T. K. Teoh, Mooi Khee Yoong, Hou Pin
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SubjectTerms	3D positioning Apexes Augmented reality Automation Calibration Cameras Codes Estimation theory Image processing Localization machine vision Markers Mathematical models Methods Numerical analysis numerical method Numerical models Orientation pinhole imaging Pinholes pose estimation Position measurement QR code marker Robots Rotation Simulation Vision systems
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Title	Numerical Computation-Based Position Estimation for QR Code Object Marker: Mathematical Model and Simulation
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