KFU. Card publication. Pilot Virtual Experiments on ArUco and AprilTag Systems Comparison for Fiducial Marker Rotation Resistance

KAZAN
FEDERAL UNIVERSITY

- RUS
- 中文
- ES

PILOT VIRTUAL EXPERIMENTS ON ARUCO AND APRILTAG SYSTEMS COMPARISON FOR FIDUCIAL MARKER ROTATION RESISTANCE

Form of presentation

Articles in international journals and collections

Year of publication

2019

��

��

Authors, employees of KFU

Zakiev Aufar Azatovich, author

Magid Evgeniy Arkadevich, author

Shabalina Kseniya Sergeevna, author

Authors, students KFU

Zakiev Aufar Azatovich, author

Shabalina Kseniya Sergeevna, author

Bibliographic description in the original language

Zakiev A., Shabalina K., Magid E. Pilot Virtual Experiments on ArUco and AprilTag Systems Comparison for Fiducial Marker Rotation Resistance // International Conference on Artificial Life and Robotics (ICAROB 2019) (Oita, Japan; 10-12 January 2019) - p. 132-135.

Annotation

There exists a large number of fiducial marker system types and both researchers and industry have difficulties to select among this variety a single system that could provide optimal behavior for a particular task. This paper presents design and results of pilot virtual experiments that were conducted in order to compare a performance of two marker systems, ArUco and AprilTag. Experiments were designed to estimate and compare marker systems resistance to rotation with regard to different principal axes in 3D space. Pilot experiment design eliminates influence of external environment, including light conditions, camera resolution, sensor noise, distance between camera and marker, etc. Experiments were implemented in ROS/Gazebo environment. In total over 300,000 virtual experiments were performed and analyzed in order to collect statistically significant data amount.

Keywords

robotics; fiducial marker system; recognition algorithms; experimental comparison; ROS; Gazebo

The name of the journal

ICAROB 2019: PROCEEDINGS OF THE 2019 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS

URL

https://apps.webofknowledge.com/full_record.do?product=WOS&search_mode=GeneralSearch&qid=6&SID=D1gNdRwFLP3csucyGq9&page=1&doc=1

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=196701&p_lang=2

Resource files

File name	Size (MB)	Format
F_2019_Pilot_Virtual_Experiments_on_ArUco_and_AprilTag_Systems.pdf	0,37	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Zakiev Aufar Azatovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Shabalina Kseniya Sergeevna	ru_RU
dc.contributor.author	Zakiev Aufar Azatovich	ru_RU
dc.contributor.author	Shabalina Kseniya Sergeevna	ru_RU
dc.date.accessioned	2019-01-01T00:00:00Z	ru_RU
dc.date.available	2019-01-01T00:00:00Z	ru_RU
dc.date.issued	2019	ru_RU
dc.identifier.citation	Zakiev A., Shabalina K., Magid E. Pilot Virtual Experiments on ArUco and AprilTag Systems Comparison for Fiducial Marker Rotation Resistance // International Conference on Artificial Life and Robotics (ICAROB 2019) (Oita, Japan; 10-12 January 2019) - p. 132-135.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=196701&p_lang=2	ru_RU
dc.description.abstract	ICAROB 2019: PROCEEDINGS OF THE 2019 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS	ru_RU
dc.description.abstract	There exists a large number of fiducial marker system types and both researchers and industry have difficulties to select among this variety a single system that could provide optimal behavior for a particular task. This paper presents design and results of pilot virtual experiments that were conducted in order to compare a performance of two marker systems, ArUco and AprilTag. Experiments were designed to estimate and compare marker systems resistance to rotation with regard to different principal axes in 3D space. Pilot experiment design eliminates influence of external environment, including light conditions, camera resolution, sensor noise, distance between camera and marker, etc. Experiments were implemented in ROS/Gazebo environment. In total over 300,000 virtual experiments were performed and analyzed in order to collect statistically significant data amount.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject		ru_RU
dc.title	Pilot Virtual Experiments on ArUco and AprilTag Systems Comparison for Fiducial Marker Rotation Resistance	ru_RU
dc.type	Articles in international journals and collections	ru_RU