VISUAL LOCALIZATION OF UNMANNED AERIAL VEHICLES BASED ON MARKER DETECTION AND PROCESSING

摘要

A method for locating markers in an image captured by a mobile device moving about an operating space. The method includes preprocessing an image to generate a set of image data, locating fixed features of markers by tracing edges of the fixed features, and extracting variable data payloads of each of the markers associated with the located fixed features. The fixed features of each of the markers may include a pair of parallel lines extending along opposite sides of a data area containing the variable data payload, and each of the lines extends a distance beyond each exposed end of the data area to avoid missing data when markers are not arranged orthogonally to the scan direction. The preprocessing involves rotating or skewing the image to provide rotated or skewed versions of the image to facilitate locating markers regardless of their angular orientation in the image.

主权项

1. A localization marker adapted for identification with a single scan direction, comprising:
a body with an exposed surface; and a marker pattern provided on the exposed surface, the marker pattern including:
a fixed pattern; anda data area comprising a variable pattern, wherein the fixed pattern comprises a pair of parallel, linear features that are spaced apart a predefined distance, wherein the data area is sandwiched between the pair of linear features, and wherein each of the linear features has a length greater than a maximum length of components of the variable pattern.