Metrology of a Monocular Vision System for Markers Localization and Tracking

Abstract

This study explores the metrological performances of monocular vision systems for three-dimensional fiducial markers localization and tracking. These systems are commonly applied in robotic and automated systems, manufacturing processes modeling and optimization. The analysis is divided in the monocular system calibration, the fiducial markers localization, and the metrology investigation. The latter is performed as per the ISO/IEC Guide 98–3: 2008 to the expression of Uncertainty in Measurement. Translational localization bias errors and uncertainties are examined through the usage of micrometric positioners and differently sized markers. Results highlight the viability of monocular systems for markers localization, given the localization errors of fractions of a millimeter.