Real Time Fiducial Marker Localisation System with Full 6 DOF Pose Estimation

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Real Time Fiducial Marker Localisation System with Full 6 DOF Pose Estimation

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Real Time Fiducial Marker Localisation System with Full 6 DOF Pose Estimation

Popis výsledku anglicky

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.

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

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Návaznosti

R - Projekt Ramcoveho programu EK

Rok uplatnění

2023

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

1931-0161

Svazek periodika

23

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

16

Strana od-do

20-35

Kód UT WoS článku

000971708900002

EID výsledku v databázi Scopus

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