A versatile high-performance visual fiducial marker detection system with scalable identity encoding

Peter Lightbody, Tomáš Krajník, Marc Hanheide
<span title="">2017</span> <i title="ACM Press"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/uo6yx5jpgnf2zl7mkrumytd4ti" style="color: black;">Proceedings of the Symposium on Applied Computing - SAC &#39;17</a> </i> &nbsp;
Fiducial markers have a wide field of applications in robotics, ranging from external localisation of single robots or robotic swarms, over self-localisation in marker-augmented environments, to simplifying perception by tagging objects in a robot's surrounding. We propose a new family of circular markers allowing for a computationally efficient detection, identification and full 3D position estimation. A key concept of our system is the separation of the detection and identification steps,
more &raquo; ... e the first step is based on a computationally efficient circular marker detection, and the identification step is based on an open-ended 'Necklace code', which allows for a theoretically infinite number of individually identifiable markers. The experimental evaluation of the system on a real robot indicates that while the proposed algorithm achieves similar accuracy to other state-of-the-art methods, it is faster by two orders of magnitude and it can detect markers from longer distances.
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1145/3019612.3019709">doi:10.1145/3019612.3019709</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/sac/LightbodyKH17.html">dblp:conf/sac/LightbodyKH17</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/okopb5rmcjhxvfrkxkvkbz5wlm">fatcat:okopb5rmcjhxvfrkxkvkbz5wlm</a> </span>
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