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Laser & Optoelectronics Progress, Volume. 57, Issue 12, 121501(2020)

Research on P4P Algorithm Based on Quick Response Code Recognition

Hongwei Li1、* and Tao Xiong2
Author Affiliations
  • 1Maritime College, Guangdong Communication Polytechnic, Guangzhou, Guangdong 510800, China
  • 2Guangzhou Haige Communications Industry Group Co., Ltd., Guangzhou, Guangdong 510663, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (9)
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    References (14)
    Cited By (3)
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    Figures & Tables(9)
    Flow chart of positioning and navigation algorithm

    Fig. 1. Flow chart of positioning and navigation algorithm

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    Three coordinate systems in the process of PNP positioning and navigation

    Fig. 2. Three coordinate systems in the process of PNP positioning and navigation

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    Calibrated image

    Fig. 3. Calibrated image

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    Calibration images taken from different angles

    Fig. 4. Calibration images taken from different angles

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    Simulation of experiment 2. (a) Position estimation effect diagram; (b) position estimation error; (c) angle estimation error

    Fig. 5. Simulation of experiment 2. (a) Position estimation effect diagram; (b) position estimation error; (c) angle estimation error

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    Simulation of experiment 3. (a) Position estimation effect diagram; (b) position estimation error; (c) angle estimation error

    Fig. 6. Simulation of experiment 3. (a) Position estimation effect diagram; (b) position estimation error; (c) angle estimation error

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    x-y plane

    Fig. 7. x-y plane

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    Captured image

    Fig. 8. Captured image

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    • Table 1. Simulation result

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      Table 1. Simulation result

      Actual coordinate /mEstimated coordinate /mError /(10-4 m)Actual angle /(°)Estimated angle /(°)
      (-0.02,0.00)(-0.2034,0.0001)3.839191.0439
      (-0.04,0.04)(-0.0406,0.0405)9.859191.0439
      (0.01,-0.01)(0.0102,-0.0095)5.249191.0439
      (0.02,-0.01)(0.0199,-0.0097)5.109191.0439
      (-0.01,-0.01)(-0.0097,-0.0102)3.979191.0439
      (-0.01,0.00)(-0.0100,0.00002)2.63-135-134.6997
      (0.01,0.01)(0.0095,0.0099)5.12-135-134.6997
      (0.02,0.00)(0.0202,0.0002)3.39-135-134.6997
      (0.04,-0.04)(0.0406,-0.0394)8.25-135-134.6997
      (0,-0.04)(0.00003,-0.0396)4.43-135-134.6997
      (0,0.01)(5.3391×10-4,0.0101)5.434544.0700
      (0.04,0.04)(0.039,0.0405)11.004544.0700
      (0.02,-0.02)(0.01997,0.0191)9.924544.0700
      (-0.04,-0.04)(-0.0395,-0.0401)5.504544.0700
      (-0.02,-0.01)(-0.0208,-0.0095)1.004544.0700
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    Hongwei Li, Tao Xiong. Research on P4P Algorithm Based on Quick Response Code Recognition[J]. Laser & Optoelectronics Progress, 2020, 57(12): 121501

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    Paper Information

    Category: Machine Vision

    Received: Oct. 8, 2019

    Accepted: Oct. 31, 2019

    Published Online: Jun. 3, 2020

    The Author Email: Li Hongwei (992461977@qq.com)

    DOI:10.3788/LOP57.121501

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology