Complex Fiducial Marker Band Realizing Precision Position Recognition of Transparent Reagent Containers
Ryu Miyahara, Daisuke Haraguchi · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2024
This study proposes a novel method for recognizing the position and diameter of transparent containers using a fiducial marker band. This approach enables a laboratory automation system that is teachless and position-flexible. The fiducial marker band consists of a fiducial marker and an elastic band with a colored stripe. The proposed image processing method accurately estimates the center position of the container by recognizing fiducial markers and using RGB threshold processing. According to experiments, position recognition achieved an accuracy of up to 3.3 mm maximum error within a flat area of 400×310 mm. In a robot-based pipetting experiment involving randomly positioned containers, our approach achieved a 100 % success rate in 100 trials, demonstrating its precision and reliability.