Towards Fast Fiducial Marker with full 6 DOF Pose Estimation
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00361194" target="_blank" >RIV/68407700:21230/22:00361194 - isvavai.cz</a>
Result on the web
<a href="https://dl.acm.org/doi/pdf/10.1145/3477314.3507043" target="_blank" >https://dl.acm.org/doi/pdf/10.1145/3477314.3507043</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1145/3477314.3507043" target="_blank" >10.1145/3477314.3507043</a>
Alternative languages
Result language
angličtina
Original language name
Towards Fast Fiducial Marker with full 6 DOF Pose Estimation
Original language description
This paper proposes a new method for the full 6 degrees of free- dom pose estimation of a circular fiducial marker. This circular black-and-white planar marker provides a unique and versatile identification of individual markers while maintaining a real-time detection. Such a marker and the vision localisation system based on it is suitable for both external and self-localisation. Together with an off-the-shelf camera, the marker aims to provide a sufficient pose estimation accuracy to substitute the current high-end locali sation systems. In order to assess the performance of our proposed marker system, we evaluate its capabilities against the current state of-the-art methods in terms of their ability to estimate the 2D and 3D positions. For such purpose, a real-world dataset, inspired by typical applications in mobile and swarm robotics, was collected as the performance under the real conditions provides better insights into the method’s potential than an artificially simulated environ ment. The experiments performed show that the method presented here achieved three times the accuracy of the marker it was derived from.
Czech name
—
Czech description
—
Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/GC20-27034J" target="_blank" >GC20-27034J: Towards long-term autonomy through introduction of the temporal domain into spatial representations used in robotics</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 37th ACM/SIGAPP Symposium on Applied Computing
ISBN
978-1-4503-8713-2
ISSN
—
e-ISSN
—
Number of pages
8
Pages from-to
723-730
Publisher name
ACM
Place of publication
New York
Event location
Virtual
Event date
Apr 25, 2022
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
—