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Proposes a monocular pose measurement method using two-color stripe curvature markers

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Jaesung Hong addresses the problem that the surface of thin cylindrical objects has limited space, making it difficult to place planar markers, and proposes a two-color stripe marker that uses the cylinder's known curvature to improve monocular camera pose measurement accuracy: the two-color boundary provides a long centerline, and the dots and printed edges provide features at different depths; analytical and simulation analyses are given. At a camera distance of 15 cm, the Cramér-Rao lower bound given in the paper shows that the roll standard deviation is 2.00° for the planar marker, 0.38° for the single-curved-surface marker, and 0.21° for the wrap-around marker; the Monte Carlo roll root-mean-square error differs from the corresponding lower bound by within about 10%. The authors state that these analytical and simulation results explain how curvature improves monocular measurement and provide a basis for marker geometry design.