An Efficient Visual Fiducial Localisation System

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

An Efficient Visual Fiducial Localisation System

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

An Efficient Visual Fiducial Localisation System

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

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 periodika

ACM SIGAPP Applied Computing Review

ISSN

1559-6915

e-ISSN

1559-6915

Svazek periodika

17

Číslo periodika v rámci svazku

3

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

11

Strana od-do

28-38

Kód UT WoS článku

000419442400003

EID výsledku v databázi Scopus

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