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Retro reflective markers can remarkably aid photogrammetry tasks inchallenging visual environments. They have been demonstrated to be key enablersof pose estimation for remote handling in ITER. However, the strictrequirements of the ITER environment have previously markedly constrained thedesign of such elements and limited their performance. In this work, weidentify several retro reflector designs based on the cat's eye principle thatare applicable to the ITER usecase and propose a methodology for optimizingtheir performance. We circumvent some of the environmental constraints bychanging the curvature radius and distance to the reflective surface. We model,manufacture and test a marker that fulfils all the application requirementswhile achieving a gain of around 100\% in performance over the previoussolution in the targeted working range.

Design and manufacturing of an optimized retro reflective marker for photogrammetric pose estimation in ITER