MATEC Web Conf.
Volume 113, 201712th International Scientific-Technical Conference on Electromechanics and Robotics “Zavalishin’s Readings” - 2017
|Number of page(s)||6|
|Section||Robotics and Automation|
|Published online||20 June 2017|
Effects of rotation and systematic occlusion on fiducial marker recognition
1 Intelligent Robotics Department, Higher Institute for Information Technology and Information Systems (ITIS), Kazan Federal University, 35 Kremlyovskaya street, Kazan, 420008, Russian Federation
2 Department of Instrument Science and Engineering, Shanghai Jiao Tong University, Shanghai, China
* Corresponding author: email@example.com
Fiducial marker systems consist of patterns that are placed in environment for miscellaneous applications and are further automatically detected with cameras. A variety of applications determines the 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. The paper compares existing ARTag, AprilTag, and CALTag systems utilizing a high fidelity camera, which is a main vision sensor of a full-size Russian humanoid robot AR-601M. In experiments the comparison of the three marker systems reliability and detection rate in occlusions of various types and intensities was verified. Finally, a preferable for AR-601M robot visual applications marker system was selected.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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