Enhancing Pose Estimation Using Multiple Graphical Markers with Spatial and Temporal Outlier Detection

摘要

This paper presents a novel approach to enhance pose estimation accuracy and precision in mobile robotics using multiple graphical markers. While traditional single-marker methods using graphical markers such as ArUco offer simple implementation, their performance is susceptible to environmental variations and measurement errors. To address these limitations, we propose a robust pose estimation algorithm that leverages multiple markers simultaneously. Our approach incorporates two key mechanisms: spatial consistency verification to detect invalid markers within the marker array, and temporal stability analysis to identify and exclude outlier measurements. The algorithm enhances pose estimation accuracy by averaging measurements from valid markers while preventing any single marker from dominating the estimation process. The effectiveness of our approach was validated through experiments using both fixed and drone-mounted camera configurations. The results demonstrated that the pose estimation using multiple markers significantly improved both accuracy and precision compared with single-marker approaches. In fixed-camera experiments, the proposed method showed reduced mean errors and standard deviations in both position and orientation measurements across various camera poses. Similarly, in drone-mounted camera experiments, our approach exhibited superior stability with significantly lower measurement variations during hovering maneuvers. These improvements were particularly pronounced in challenging scenarios, such as when the camera was tilted at large angles relative to the marker plane. This research contributes to the advancement of reliable pose estimation methodologies in mobile robotics and autonomous systems, with potential applications across diverse environments where precise position and orientation measurements are crucial.