| Issue |
MATEC Web Conf.
Volume 113, 2017
12th International Scientific-Technical Conference on Electromechanics and Robotics “Zavalishin’s Readings” - 2017
|
|
|---|---|---|
| Article Number | 02006 | |
| Number of page(s) | 6 | |
| Section | Robotics and Automation | |
| DOI | https://doi.org/10.1051/matecconf/201711302006 | |
| 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: magid@it.kfu.ru
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
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