Towards Fast Fiducial Marker with full 6 DOF Pose Estimation

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Towards Fast Fiducial Marker with full 6 DOF Pose Estimation

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Towards Fast Fiducial Marker with full 6 DOF Pose Estimation

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

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/GC20-27034J" target="_blank" >GC20-27034J: Rozšíření prostorových modelů explicitní representací času pro dlouhodobou autonomii mobilních robotů</a><br>

Návaznosti

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

Rok uplatnění

2022

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the 37th ACM/SIGAPP Symposium on Applied Computing

ISBN

978-1-4503-8713-2

ISSN

—

e-ISSN

—

Počet stran výsledku

8

Strana od-do

723-730

Název nakladatele

ACM

Místo vydání

New York

Místo konání akce

Virtual

Datum konání akce

25. 4. 2022

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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