Real Time Fiducial Marker Localisation System 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%2F23%3A00367433" target="_blank" >RIV/68407700:21230/23:00367433 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1145/3594264.3594266" target="_blank" >https://doi.org/10.1145/3594264.3594266</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1145/3594264.3594266" target="_blank" >10.1145/3594264.3594266</a>
Alternative languages
Result language
angličtina
Original language name
Real Time Fiducial Marker Localisation System with Full 6 DOF Pose Estimation
Original language description
The ability to reliably determine its own position, as well as the position of surrounding objects, is crucial for any autonomous robot. While this can be achieved with a certain degree of reliability, augmenting the environment with artificial markers that make these tasks easier is often practical. This applies especially to the evaluation of robotic experiments, which often require exact ground truth data containing the positions of the robots. This paper proposes a new method for estimating the position and orientation of circular fiducial markers in 3D space. Simulated and real experiments show that our method achieved three times lower localisation error than the method it derived from. The experiments also indicate that our method outperforms state-of-the-art systems in terms of orientation estimation precision while maintaining similar or better accuracy in position estimation. Moreover, our method is computationally efficient, allowing it to detect and localise several markers in a fraction of the time required by the state-of-the-art fiducial markers. Furthermore, the presented method requires only an off-the-shelf camera and printed tags, can be quickly set up and works in natural light conditions outdoors. These properties make it a viable alternative to expensive high-end localisation systems.
Czech name
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Czech description
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Classification
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)
Result continuities
Project
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Continuities
R - Projekt Ramcoveho programu EK
Others
Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
ACM SIGAPP Applied Computing Review
ISSN
1559-6915
e-ISSN
1931-0161
Volume of the periodical
23
Issue of the periodical within the volume
1
Country of publishing house
US - UNITED STATES
Number of pages
16
Pages from-to
20-35
UT code for WoS article
000971708900002
EID of the result in the Scopus database
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