Research on relative localization of mobile robots based on monocular vision and known tags

Abstract

This paper proposes a monocular vision-based method for relative pose estimation utilizing known-dimension tags. By equipping vehicle B with a rectangular red tag of precisely calibrated dimensions, vehicle A acquires visual data through a monocular camera. Through image processing and geometric model derivation, the proposed approach achieves accurate localization of the target vehicle. The method demonstrates advantages including low computational complexity,cost-effectiveness, and real-time performance, making it suitable for applications in autonomous vehicles and robotic navigation systems.