An Efficient Visual Fiducial Localisation System

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00317935" target="_blank" >RIV/68407700:21230/17:00317935 - isvavai.cz</a>
Result on the web
<a href="https://www.sigapp.org/acr/Issues/V17.3/ACR%2017-3.pdf" target="_blank" >https://www.sigapp.org/acr/Issues/V17.3/ACR%2017-3.pdf</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1145/3019612.3019709" target="_blank" >10.1145/3019612.3019709</a>

Result language
angličtina
Original language name
An Efficient Visual Fiducial Localisation System
Original language description
With use cases that range from external localisation of single robots or robotic swarms to self-localisation in marker augmented environments and simplifying perception by tagging objects in a robot’s surrounding, fiducial markers have a wide field of application in the robotic world. We propose a new family of circular markers which allow for both computationally efficient detection, tracking and identification and full 6D position estimation. At the core of the proposed approach lies the separation of the detection and identification steps, with the former using computationally efficient circular marker detection and the latter utilising an open-ended `necklace encoding’, allowing scalability to a large number of individual markers. While the proposed algorithm achieves similar accuracy to other state-of-the-art methods, its experimental evaluation in realistic conditions demonstrates that it can detect markers from larger distances while being up to two orders of magnitude faster than other stateof-the art fiducial marker detection methods. In addition, the entire system is available as an open-source package at https://github.com/LCAS/whycon.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project
<a href="/en/project/GJ17-27006Y" target="_blank" >GJ17-27006Y: Spatio-temporal representations for life-long mobile robot navigation</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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