Kazan (Volga region) Federal University, KFU
KAZAN
FEDERAL UNIVERSITY
 
PILOT VIRTUAL EXPERIMENTS ON ARUCO AND ARTAG SYSTEMS COMPARISON FOR FIDUCIAL MARKER ROTATION RESISTANCE
Form of presentationArticles in international journals and collections
Year of publication2019
Языканглийский
  • Zakiev Aufar Azatovich, author
  • Magid Evgeniy Arkadevich, author
  • Coy Tatyana Grigorevna, author
  • Bibliographic description in the original language Zakiev A. Pilot Virtual Experiments on ArUco and ArTag Systems Comparison for Fiducial Marker Rotation Resistance / Shabalina K., Tsoy T., Magid E. // Smart Innovation, Systems and Technologies. - 2019. - №154. - p. 455-464.
    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 Smart Innovation, Systems and Technologies
    URL https://link.springer.com/chapter/10.1007/978-981-13-9267-2_37
    Please use this ID to quote from or refer to the card https://repository.kpfu.ru/eng/?p_id=213256&p_lang=2
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    2019_Pilot_Virtual_Experiments_on_ArUco_and_ArTag_Systems_Comparison_for_Fiducial_Marker_Rotation_Resistance.pdf 0,58 pdf show / download

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