Estimación de pose basada en marcadores ArUco usando cámaras de eventos
DOI:
https://doi.org/10.17979/ja-cea.2026.47.13871Palabras clave:
Cámara de eventos, Estimación de pose, Visión por computador, Marcadores fiduciales, Localización visualResumen
La estimación de pose es una técnica fundamental en robótica y visión por computador. Sin embargo, los sistemas basados en cámaras convencionales presentan limitaciones ante movimientos rápidos, desenfoque y condiciones de iluminación adversas. Las cámaras de eventos surgen como una alternativa, capturando cambios de intensidad de forma asíncrona con alta resolución temporal y amplio rango dinámico, lo que las hace especialmente adecuadas para escenarios dinámicos. Este trabajo presenta un método de estimación de pose basado en marcadores ArUco utilizando únicamente eventos. El método emplea un detector de marcadores diseñado para este tipo de sensores, permitiendo su identificación sin necesidad de reconstrucción de imagen. A partir de los marcadores detectados, la pose de la cámara se estima mediante un método PnP sobre correspondencias 2D-3D. Los resultados experimentales a bordo de un robot aéreo tipo multirrotor volando en interior y exterior muestran que el sistema es capaz de proporcionar estimaciones precisas a más de 100 Hz en CPU.
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Derechos de autor 2026 J. Luna-Santamaría, R. Tapia, J.R. Martínez-de Dios, A. Ollero
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