Curved surface marker used for cone pose measurement
用于圆锥体位姿测量的曲面标记

A curved surface marker, which can be used for cone pose measurements, is designed. The design principles of the curved surface marker are proposed. The cone is flattened into a circular sector and then the sector is divided into six equal sub-sectors, which are used as basic design units. Trapezoids are applied to fulfill the joint design of point features and area features, and to finish the form-giving design of the marker, guaranteeing that there are 58 corners in each sub-sector. Combining the geometric features with the movement features of the cone, a unique code is provided for each sub-sector. The simulation results show that more than five non-fully collinear corners can be extracted and recognized under various poses (with the cone top appears in FOV of both cameras simultaneously). The designed marker can satisfactory the requirements of cone pose measurement.