Analytical Models for Pose Estimate Variance of Planar Fiducial Markers for Mobile Robot Localisation

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F23%3APU148815" target="_blank" >RIV/00216305:26210/23:PU148815 - isvavai.cz</a>

Result on the web

<a href="https://www.mdpi.com/1424-8220/23/12/5746" target="_blank" >https://www.mdpi.com/1424-8220/23/12/5746</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/s23125746" target="_blank" >10.3390/s23125746</a>

Result language

angličtina

Original language name

Analytical Models for Pose Estimate Variance of Planar Fiducial Markers for Mobile Robot Localisation

Original language description

Planar fiducial markers are commonly used to estimate a pose of a camera relative to the marker. This information can be combined with other sensor data to provide a global or local position estimate of the system in the environment using a state estimator such as the Kalman filter. To achieve accurate estimates, the observation noise covariance matrix must be properly configured to reflect the sensor output's characteristics. However, the observation noise of the pose obtained from planar fiducial markers varies across the measurement range and this fact needs to be taken into account during the sensor fusion to provide a reliable estimate. In this work, we present experimental measurements of the fiducial markers in real and simulation scenarios for 2D pose estimation. Based on these measurements, we propose analytical functions that approximate the variances of pose estimates. We demonstrate the effectiveness of our approach in a 2D robot localisation experiment, where we present a method for estimating covariance model parameters based on user measurements and a technique for fusing pose estimates from multiple markers.

Czech name

—

Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

21100 - Other engineering and technologies

Project

—

Continuities

S - Specificky vyzkum na vysokych skolach

Publication year

2023

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

SENSORS

ISSN

1424-8220

e-ISSN

1424-3210

Volume of the periodical

23

Issue of the periodical within the volume

12

Country of publishing house

CH - SWITZERLAND

Number of pages

20

Pages from-to

„“-„“

UT code for WoS article

001017878400001

EID of the result in the Scopus database

2-s2.0-85164024202