부산대학교 도서관

Fast and accurate pose estimation is essential for the local motion control of robots such as drones. At present, camera-based motion capture (Mocap) systems are mostly used by robots. However, this kind of Mocap system is easily affected by light noise and camera occlusion, and the cost of common commercial Mocap systems is high. To address these challenges, we propose Easy Rocap, a low-cost, open-source robot motion capture system, which can quickly and robustly capture the accurate position and orientation of the robot. Firstly, based on training a real-time object detector, an object-filtering algorithm using class and confidence is designed to eliminate false detections. Secondly, multiple-object tracking (MOT) is applied to maintain the continuity of the trajectories, and the epipolar constraint is applied to multi-view correspondences. Finally, the calibrated multi-view cameras are used to calculate the 3D coordinates of the markers and effectively estimate the 3D pose of the target robot. Our system takes in real-time multi-camera data streams, making it easy to integrate into the robot system. In the simulation scenario experiment, the average position estimation error of the method is less than 0.008 m, and the average orientation error is less than 0.65 degrees. In the real scenario experiment, we compared the localization results of our method with the advanced LiDAR-Inertial Simultaneous Localization and Mapping (SLAM) algorithm. According to the experimental results, SLAM generates drifts during turns, while our method can overcome the drifts and accumulated errors of SLAM, making the trajectory more stable and accurate. In addition, the pose estimation speed of our system can reach 30 Hz.