{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,19]],"date-time":"2026-06-19T17:00:58Z","timestamp":1781888458358,"version":"3.54.5"},"reference-count":38,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2021,3,5]],"date-time":"2021-03-05T00:00:00Z","timestamp":1614902400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Key R&amp;D Program of China","award":["No. 2017YFF0206306"],"award-info":[{"award-number":["No. 2017YFF0206306"]}]},{"name":"National Key R&amp;D Program of China","award":["2018YFF01012006"],"award-info":[{"award-number":["2018YFF01012006"]}]},{"name":"National Key R&amp;D Program of China","award":["2019YFB2004900"],"award-info":[{"award-number":["2019YFB2004900"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["No. 51675499"],"award-info":[{"award-number":["No. 51675499"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51927811"],"award-info":[{"award-number":["51927811"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Zhejiang Natural Science Foundation","award":["No. LQ20E050016"],"award-info":[{"award-number":["No. LQ20E050016"]}]},{"name":"Zhejiang Natural Science Foundation","award":["LY19F030012"],"award-info":[{"award-number":["LY19F030012"]}]},{"name":"Zhejiang Key R&amp;D Program","award":["No. 2020C01096"],"award-info":[{"award-number":["No. 2020C01096"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this paper, we propose a Circular-ring visual location marker based on a global image-matching model to improve the positioning ability in the fiducial marker system of a single-target mobile robot. The unique coding information is designed according to the cross-ratio invariance of the projective theorem. To verify the accuracy of full 6D pose estimation using the Circular-ring marker, a 6 degree of freedom (DoF) robotic arm platform is used to design a visual location experiment. The experimental result shows in terms of small resolution images, different size markers, and long-distance tests that our proposed robot positioning method significantly outperforms AprilTag, ArUco, and Checkerboard. Furthermore, through a repeatable robot positioning experiment, the results indicated that the proposed Circular-ring marker is twice as accurate as the fiducial marker at 2\u20134 m. In terms of recognition speed, the Circular-ring marker processes a frame within 0.077 s. When the Circular-ring marker is used for robot positioning at 2\u20134 m, the maximum average translation error of the Circular-ring marker is 2.19, 3.04, and 9.44 mm. The maximum average rotation error is also 1.703\u00b0, 1.468\u00b0, and 0.782\u00b0.<\/jats:p>","DOI":"10.3390\/s21051829","type":"journal-article","created":{"date-parts":[[2021,3,5]],"date-time":"2021-03-05T11:46:09Z","timestamp":1614944769000},"page":"1829","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":27,"title":["Application of a Vision-Based Single Target on Robot Positioning System"],"prefix":"10.3390","volume":"21","author":[{"given":"Jing","family":"Yu","sequence":"first","affiliation":[{"name":"School of Metrology and Test Engineering, China Jiliang University, Hangzhou 310018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wensong","family":"Jiang","sequence":"additional","affiliation":[{"name":"School of Metrology and Test Engineering, China Jiliang University, Hangzhou 310018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zai","family":"Luo","sequence":"additional","affiliation":[{"name":"School of Metrology and Test Engineering, China Jiliang University, Hangzhou 310018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Li","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Metrology and Test Engineering, China Jiliang University, Hangzhou 310018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2021,3,5]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1007\/s11042-020-09584-0","article-title":"A novel interactive assembly teaching aid using multi-template augmented reality","volume":"79","author":"Tsai","year":"2020","journal-title":"Multimedia Tools Appl."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"103958","DOI":"10.1016\/j.mechmachtheory.2020.103958","article-title":"Omnidirectional mobile robots, mechanisms and navigation approaches","volume":"153","author":"Taheri","year":"2020","journal-title":"Mech. 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