A Versatile High-Performance Visual Fiducial Marker Detection System with Scalable Identity Encoding

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00311499" target="_blank" >RIV/68407700:21230/17:00311499 - isvavai.cz</a>

Výsledek na webu

<a href="http://eprints.lincoln.ac.uk/25828/1/4d0bd9e8a3b3b5ad6ca2d56c1438fbbc.pdf" target="_blank" >http://eprints.lincoln.ac.uk/25828/1/4d0bd9e8a3b3b5ad6ca2d56c1438fbbc.pdf</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1145/3019612.3019709" target="_blank" >10.1145/3019612.3019709</a>

Jazyk výsledku

angličtina

Název v původním jazyce

A Versatile High-Performance Visual Fiducial Marker Detection System with Scalable Identity Encoding

Popis výsledku v původním jazyce

Fiducial markers have a wide field of applications in robotics, ranging from external localisation of single robots or robotic swarms, over self-localisation in marker-augmented environments, to simplifying perception by tagging objects in a robot’s surrounding. We propose a new family of circular markers allowing for a computationally efficient detection, identification and full 3D position estimation. A key concept of our system is the separation of the detection and identification steps, where the first step is based on a computationally efficient circular marker detection, and the identification step is based on an open-ended `Necklace code’, which allows for a theoretically infinite number of individually identifiable markers. The experimental evaluation of the system on a real robot indicates that while the proposed algorithm achieves similar accuracy to other state-of-the-art methods, it is faster by two orders of magnitude and it can detect markers from longer distances

Název v anglickém jazyce

A Versatile High-Performance Visual Fiducial Marker Detection System with Scalable Identity Encoding

Popis výsledku anglicky

Fiducial markers have a wide field of applications in robotics, ranging from external localisation of single robots or robotic swarms, over self-localisation in marker-augmented environments, to simplifying perception by tagging objects in a robot’s surrounding. We propose a new family of circular markers allowing for a computationally efficient detection, identification and full 3D position estimation. A key concept of our system is the separation of the detection and identification steps, where the first step is based on a computationally efficient circular marker detection, and the identification step is based on an open-ended `Necklace code’, which allows for a theoretically infinite number of individually identifiable markers. The experimental evaluation of the system on a real robot indicates that while the proposed algorithm achieves similar accuracy to other state-of-the-art methods, it is faster by two orders of magnitude and it can detect markers from longer distances

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/GJ17-27006Y" target="_blank" >GJ17-27006Y: Prostorově temporální representace pro dlouhodobou navigaci mobilních robotů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2017

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the Symposium on Applied Computing

ISBN

978-1-4503-4486-9

ISSN

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e-ISSN

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Počet stran výsledku

7

Strana od-do

276-282

Název nakladatele

ACM

Místo vydání

New York

Místo konání akce

Marrakech

Datum konání akce

4. 4. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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