空间非编码标记特征点中心定位方法与比较

归纳总结了应用于可见光测量的空间标记非编码设计原则，例举了棋盘格型、栅格型、圆型等3种典型的非编码标记图案设计，分别阐述了各标记特征点中心定位方法和计算过程，开展了对比试验，结果表明：圆型非编码标记图案设计及其特征点中心定位精度明显高于其他两种图案，其图案设计简捷、特征点突出易于识别、在像平面中呈现各向同性、点中心定位精度高、计算速度快、噪声抑制能力强。

Design of Non-coding Pattern and Centroiding Location of Feature Points for Spatial Target

In this article, a series of guidelines of spatial target with a non-coding pattern are gen- eralized and summarized for estimating position and orientation of cooperative object. Three typi- cal non-coding patterns i.e. checkerboard pattern, grid pattern and cycle pattern are introduced according to the above guidelines. Consequently, different eentroiding location and extraction al- gorithms of 2D feature points within every pattern are formulated in detail. Experimental results show that the cycle pattern of spatial target and its centroiding location algorithm o~ 2D {eature points is much better than the others in such aspects as simple pattern, obvious feature for recog- nizing, imaging isotropy, high accuracy of center positioning, short calculating time and strong ability to restrain noise.