Marker-Based Pose Estimation of End Effectors in Industrial Robot Visual Servoing: Error Modeling and Placement Guidelines.

Xuewen Wei, Pengcheng Li, Pinzhang Wang, Yunfei Miao, Wei Tian, Wenhe Liao

Abstract read

In one paragraph

Article in Sensors (Basel, Switzerland), 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

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0citing papers in PubMed

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1 · What the graph read from it

What it found

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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

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3 · Its place in the literature

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0 citing papers in PubMed.

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4 · The record

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5 · Who and what money

Authors and funding

6 authors.

Xuewen WeiCollege of Mechanical & Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.

Pengcheng LiCollege of Mechanical & Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.

Pinzhang WangCollege of Mechanical & Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.

Yunfei MiaoCollege of Mechanical & Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.ORCID 0000-0003-4487-5792

Wei TianCollege of Mechanical & Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.ORCID 0000-0001-7963-0619

Wenhe LiaoSchool of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China.

Funding

Fundamental and Interdisciplinary Disciplines Breakthrough Plan of the Ministry of Education of China JYB2025XDXM207National Natural Science Foundation of China 52305540National Natural Science Foundation of China 52405551National Science and Technology Major Project 2025ZD1601004Natural Science Foundation of Jiangsu Province BK20241405Postdoctoral Fellowship Program of CPSF GZC20252714

6 · The paper itself

Abstract

In industrial robot visual servoing, the accuracy of end-effector pose directly affects the feedback quality and trajectory tracking performance of the visual servo system. To improve end-effector pose estimation accuracy, this paper establishes a propagation model from marker measurement errors to end-effector pose estimation errors and further derives the covariance expression of pose estimation errors. Based on this model, different marker placement factors affecting translational and rotational errors are analyzed, including marker-set spatial range, spatial distribution balance, and centroid offset distance. In addition, the influence of the number of markers on pose estimation errors is derived by adding a new marker to an existing point set. The accuracy of the analytical model is validated through Monte Carlo simulations and experiments, and guidelines for marker placement and marker number are provided.

Indexed as

error propagationmarker-based pose estimationmarker placementpose estimation accuracyrigid registrationvisual servoing

Identifiers

PMID42451366

DOI10.3390/s26134124

PMCPMC13363999

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.