Accurate Pose Estimation Based on Multi-frame Cooperative Identification

Abstract

As the field of robotics has become more and more widely used in medical, dock, rescue and other fields, positioning technology has become a hot field of robotics research. Among them, visual positioning technology has the advantages of low cost and good reliability, but the robustness of visual positioning is poor. Data jumps and other shortcomings, this paper designs a vision-based multi-frame cooperative logo accurate pose estimation method, this method can improve the measurement accuracy in the process of visual positioning, and provide nearby data in the case of complex jumps The measurement value with the smallest jump in the frame has been verified by experiments in this paper. This algorithm has good stability and data smoothness, and has important research value in the field of robot navigation and positioning.