| Title: | OS4-7 Pilot Virtual Experiments on ArUco and AprilTag Systems Comparison for Fiducial Marker Rotation Resistance |
|---|---|
| Publication: | ICAROB2019 |
| Volume: | 24 |
| Pages: | 132-135 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2019.OS4-7 |
| Author(s): | Aufar Zakiev, Ksenia Shabalina, Evgeni Magid |
| Publication Date: | January 10, 2019 |
| Keywords: | robotics, fiducial marker system, recognition algorithms, experimental comparison, ROS, Gazebo |
| 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. |
| PDF File: | https://alife-robotics.co.jp/members2019/icarob/data/html/data/OS_pdf/OS4/OS4-7.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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