3D imaging

[IP9-04] Position and Posture Estimation of Moving Object with a ColorGradient Marker by Using a Depth Camera

*Shouta Hasui¹, Daisuke Barada^1,2 (1. Graduate School of Regional Development and Creativity, Utsunomiya University, 2. Center for Optical Research and Education (CORE), Utsunomiya University)

In this study, the position and posture of a moving object with a color-gradient marker was estimated by using a depth camera. Position is measured by triangulation method. The depth image was separated by multiple regions and the tilt of each region was obtained by plane fitting. The shape of marker was compensated by considering the tilt. The in-plane direction was estimated from the colorgradient direction although the image of moving marker pattern was blurred.