Pose estimation method using markers and markers

摘要

An object of the present invention is to provide a marker capable of uniquely estimating a posture in a wide angle range while maintaining planarity, and a posture estimation method using the marker. In order to realize the object, a marker 1 comprising an AR marker 2 and a posture detection pattern Fx emitting light different according to the observation direction of the AR marker 2 around an X axis on a two-dimensional plane formed by the AR marker 2 I will provide a. In addition, a two-dimensional pattern code and a first posture detection pattern that emits different light according to the observation direction of the two-dimensional pattern code around the first axis on the two-dimensional plane formed by the two-dimensional pattern code A posture estimation method using a marker, comprising: a first step of specifying the color of the light or a pattern drawn by the light using the captured image of the marker; and the color or the above specified in the first step In accordance with the pattern, a second step of determining the posture around the first axis of the marker, the posture around the first axis determined in the second step, and the positions of elements constituting the captured image According to the relationship, there is provided a pose estimation method using a marker, and the third step of determining the pose of the marker.