KFU. Card publication. ARTag, AprilTag and CALTag fiducial systems comparison in a presence of partial rotation: Manual and automated approaches

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ARTAG, APRILTAG AND CALTAG FIDUCIAL SYSTEMS COMPARISON IN A PRESENCE OF PARTIAL ROTATION: MANUAL AND AUTOMATED APPROACHES

Form of presentation

Articles in international journals and collections

Year of publication

2017

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Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Sagitov Artur Gazizovich, author

Bibliographic description in the original language

Shabalina K. ARTag, AprilTag and CALTag fiducial systems comparison in a presence of partial rotation: Manual and automated approaches / Sagitov A., Sabirova L., Li H., Magid E. // Lecture Notes in Electrical Engineering. - 2017. - �495. - p. 536-558.

Annotation

Fiducial marker systems have unique designs and various geometric shapes but all of them could be automatically detected with cameras. Fiducial marker system are used in such fields as augmented reality applications, medicine, space and robot-assisted tasks. A variety of applications determines criteria, which characterize qualitative properties of a marker and include such evaluation benchmarks as resilience to occlusion, distance to a marker, false positive and false negative rates, sensitivity to illumination, and others. This paper presents experimental comparison of existing ARTag, AprilTag, and CALTag systems with regard to their reliability and detection rate in occlusions of various types and intensities. Two camera types are used for experiments: inexpensive Web camera FaceCam 1000X and a high fidelity camera, which is a main vision sensor of a Russian humanoid robot AR-601M. In addition, we describe preliminary results of virtual experiments in ROS Gazebo environment. Our long term goal is to calibrate humanoid robot manipulators in real-world environment applying a pre-calibrated camera of the robot, while the presented in this paper results help selecting a most suitable marker system for further calibration procedures.

Keywords

Robotics, Camera callibration, Algorithm comparison, Experiments, Virtual models, ARTag, AprilTag, CALTag,Gazebo, ARTag, AprilTag and CALTag Fiducial Systems

The name of the journal

Lecture Notes in Electrical Engineering

URL

https://link.springer.com/chapter/10.1007/978-3-030-11292-9_27

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

https://repository.kpfu.ru/eng/?p_id=202383&p_lang=2

Resource files

File name	Size (MB)	Format
2019_ARTag__AprilTag_and_CALTag_Fiducial.pdf	2,26	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Sagitov Artur Gazizovich	ru_RU
dc.date.accessioned	2017-01-01T00:00:00Z	ru_RU
dc.date.available	2017-01-01T00:00:00Z	ru_RU
dc.date.issued	2017	ru_RU
dc.identifier.citation	Shabalina K. ARTag, AprilTag and CALTag fiducial systems comparison in a presence of partial rotation: Manual and automated approaches / Sagitov A., Sabirova L., Li H., Magid E. // Lecture Notes in Electrical Engineering. - 2017. - �495. - p. 536-558.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=202383&p_lang=2	ru_RU
dc.description.abstract	Lecture Notes in Electrical Engineering	ru_RU
dc.description.abstract	Fiducial marker systems have unique designs and various geometric shapes but all of them could be automatically detected with cameras. Fiducial marker system are used in such fields as augmented reality applications, medicine, space and robot-assisted tasks. A variety of applications determines criteria, which characterize qualitative properties of a marker and include such evaluation benchmarks as resilience to occlusion, distance to a marker, false positive and false negative rates, sensitivity to illumination, and others. This paper presents experimental comparison of existing ARTag, AprilTag, and CALTag systems with regard to their reliability and detection rate in occlusions of various types and intensities. Two camera types are used for experiments: inexpensive Web camera FaceCam 1000X and a high fidelity camera, which is a main vision sensor of a Russian humanoid robot AR-601M. In addition, we describe preliminary results of virtual experiments in ROS Gazebo environment. Our long term goal is to calibrate humanoid robot manipulators in real-world environment applying a pre-calibrated camera of the robot, while the presented in this paper results help selecting a most suitable marker system for further calibration procedures.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Robotics	ru_RU
dc.subject	Camera callibration	ru_RU
dc.subject	Algorithm comparison	ru_RU
dc.subject	Experiments	ru_RU
dc.subject	Virtual models	ru_RU
dc.subject	ARTag	ru_RU
dc.subject	AprilTag	ru_RU
dc.subject	CALTag	ru_RU
dc.subject	Gazebo	ru_RU
dc.subject	ARTag	ru_RU
dc.subject	AprilTag and CALTag Fiducial Systems	ru_RU
dc.title	ARTag, AprilTag and CALTag fiducial systems comparison in a presence of partial rotation: Manual and automated approaches	ru_RU
dc.type	Articles in international journals and collections	ru_RU