Simulating the influence of optical-system parameters on the error in determining the orientation and position of a fiducial marker

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Abstract
Subject of study. This study investigates the influence of optical-system parameters on the error in determining the orientation and position of fiducial markers. Aim of study. This study determines the dependencies of absolute error in position and orientation on various influencing factors. Method. The error in a machine-vision system is assessed based on fiducial markers using computer-image modeling in the Unity 3D graphics system. Main results. Over 100,000 images of AprilTag markers in different positions and orientations were synthesized and processed during the simulation. The results of this simulation yielded the dependencies of absolute position and orientation errors on the distance between the camera and marker, the rotation angle of the marker, and the focal lengths of the camera. Practical significance. The obtained results may be utilized to optimize the placement of markers on the platform, select the optimal video camera positions and lens focal lengths, and implement adjustments in the image-processing algorithm. These changes can improve measurement accuracy in systems used for developing orientation algorithms for microsatellites.
Funding Information
  • Russian Science Foundation (24-21-00469)

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