Fiducial Marker-Based Monocular Localization for Autonomous Docking

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00370814" target="_blank" >RIV/68407700:21230/23:00370814 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/23:00370814
Result on the web
<a href="https://doi.org/10.1016/j.ifacol.2023.10.1419" target="_blank" >https://doi.org/10.1016/j.ifacol.2023.10.1419</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ifacol.2023.10.1419" target="_blank" >10.1016/j.ifacol.2023.10.1419</a>

Result language
angličtina
Original language name
Fiducial Marker-Based Monocular Localization for Autonomous Docking
Original language description
The article presents a monocular visual localization system based on fiducial markers for autonomous docking in industrial applications. The design has been tailored for direct use with the docking of a mobile logistic robot under storage racks that requires high robustness, usable accuracy, and easy maintenance at a very low cost. The elaborated solution suggests an innovative calibration tool for determining the positions of used fiducial markers at the docking location, which is based on structure-from-motion reconstruction. Moreover, the paper introduces a localization system calculating the position of the robot relative to the docking location using the Perspective-n-Point Problem solver for the detected markers. The presented approach has been verified for precision and robustness limits in diverse work conditions and quantitatively evaluated in experiments.
Czech name
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Czech description
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Project
<a href="/en/project/GX19-26143X" target="_blank" >GX19-26143X: Non-periodic pattern-forming metamaterials: Modular design and fabrication</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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