skip to main content
10.1145/3477314.3507043acmconferencesArticle/Chapter ViewAbstractPublication PagessacConference Proceedingsconference-collections
research-article

Towards fast fiducial marker with full 6 DOF pose estimation

Published: 06 May 2022 Publication History

Abstract

This paper proposes a new method for the full 6 degrees of freedom pose estimation of a circular fiducial marker. This circular black-and-white planar marker provides a unique and versatile identification of individual markers while maintaining a real-time detection. Such a marker and the vision localisation system based on it is suitable for both external and self-localisation. Together with an off-the-shelf camera, the marker aims to provide a sufficient pose estimation accuracy to substitute the current high-end localisation systems. In order to assess the performance of our proposed marker system, we evaluate its capabilities against the current state-of-the-art methods in terms of their ability to estimate the 2D and 3D positions. For such purpose, a real-world dataset, inspired by typical applications in mobile and swarm robotics, was collected as the performance under the real conditions provides better insights into the method's potential than an artificially simulated environment. The experiments performed show that the method presented here achieved three times the accuracy of the marker it was derived from.

References

[1]
Farshad Arvin, Abdolrahman Attar, Ali Emre Turgut, and Shigang Yue. 2015. Power-law distribution of long-term experimental data in swarm robotics. In International Conference in Swarm Intelligence. Springer, 551--559.
[2]
Farshad Arvin, Jose Espinosa, Benjamin Bird, Andrew West, Simon Watson, and Barry Lennox. 2019. Mona: an affordable open-source mobile robot for education and research. Journal of Intelligent & Robotic Systems 94, 3--4 (2019), 761--775.
[3]
Farshad Arvin, Tomáš Krajník, Ali Emre Turgut, and Shigang Yue. 2015. COSΦ: artificial pheromone system for robotic swarms research. In 2015 IEEE/RSJ international conference on intelligent robots and systems (IROS). IEEE, 407--412.
[4]
Farshad Arvin, Ali Emre Turgut, Tomáš Krajník, Salar Rahimi, Ilkin Ege Okay, Shigang Yue, Simon Watson, and Barry Lennox. 2018. Φ Clust: Pheromone-Based Aggregation for Robotic Swarms. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 4288--4294.
[5]
Abdul Basit, Waqar S Qureshi, Matthew N Dailey, and Tomáš Krajník. 2015. Joint localization of pursuit quadcopters and target using monocular cues. Journal of Intelligent & Robotic Systems 78, 3 (2015), 613--630.
[6]
Filippo Bergamasco, Andrea Albarelli, Luca Cosmo, Emanuele Rodola, and Andrea Torsello. 2016. An accurate and robust artificial marker based on cyclic codes. IEEE transactions on pattern analysis and machine intelligence 38, 12 (2016), 2359--2373.
[7]
Tolga Birdal, Ievgeniia Dobryden, and Slobodan Ilic. 2016. X-tag: A fiducial tag for flexible and accurate bundle adjustment. In 2016 Fourth International Conference on 3D Vision (3DV). IEEE, 556--564.
[8]
Lilian Calvet, Pierre Gurdjos, Carsten Griwodz, and Simone Gasparini. 2016. Detection and accurate localization of circular fiducials under highly challenging conditions. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. 562--570.
[9]
William YC Chen and James D Louck. 1997. Necklaces, MSS sequences, and DNA sequences. Advances in applied mathematics 18, 1 (1997), 18--32.
[10]
Joseph DeGol, Timothy Bretl, and Derek Hoiem. 2017. Chromatag: A colored marker and fast detection algorithm. In Proceedings of the IEEE International Conference on Computer Vision. 1472--1481.
[11]
Jan Faigl, Tomáš Krajník, Jan Chudoba, Libor Přeučil, and Martin Saska. 2013. Low-cost embedded system for relative localization in robotic swarms. In 2013 IEEE International Conference on Robotics and Automation. IEEE, 993--998.
[12]
Mark Fiala. 2004. Artag, an improved marker system based on artoolkit. National Research Council Canada, Publication Number: NRC 47419 (2004), 2004.
[13]
Sergio Garrido-Jurado, Rafael Muñoz-Salinas, Francisco José Madrid-Cuevas, and Manuel Jesús Marín-Jiménez. 2014. Automatic generation and detection of highly reliable fiducial markers under occlusion. Pattern Recognition 47, 6 (2014), 2280--2292.
[14]
Nick Hawes, Christopher Burbridge, Ferdian Jovan, Lars Kunze, Bruno Lacerda, Lenka Mudrova, Jay Young, Jeremy Wyatt, Denise Hebesberger, Tobias Kortner, et al. 2017. The strands project: Long-term autonomy in everyday environments. IEEE Robotics & Automation Magazine 24, 3 (2017), 146--156.
[15]
Denise Hebesberger, Tobias Koertner, Christoph Gisinger, and Jürgen Pripfl. 2017. A long-term autonomous robot at a care hospital: A mixed methods study on social acceptance and experiences of staff and older adults. International Journal of Social Robotics 9, 3 (2017), 417--429.
[16]
Patrick Irmisch. 2017. Camera-based distance estimation for autonomous vehicles. Master's thesis. Technische Universität Berlin.
[17]
Hirokazu Kato and Mark Billinghurst. 1999. Marker tracking and hmd calibration for a video-based augmented reality conferencing system. In Proceedings 2nd IEEE and ACM International Workshop on Augmented Reality (IWAR'99). IEEE, 85--94.
[18]
Tomáš Krajník, Matías Nitsche, Jan Faigl, Petr Vaněk, Martin Saska, Libor Přeučil, Tom Duckett, and Marta Mejail. 2014. A practical multirobot localization system. Journal of Intelligent & Robotic Systems 76, 3--4 (2014), 539--562.
[19]
Maximilian Krogius, Acshi Haggenmiller, and Edwin Olson. 2019. Flexible layouts for fiducial tags. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 1898--1903.
[20]
Peter Lightbody, Tomáš Krajník, and Marc Hanheide. 2017. An efficient visual fiducial localisation system. ACM SIGAPP Applied Computing Review 17, 3 (2017), 28--37.
[21]
Peter Lightbody, Tomáš Krajník, and Marc Hanheide. 2017. A versatile high-performance visual fiducial marker detection system with scalable identity encoding. In Proceedings of the Symposium on Applied Computing. 276--282.
[22]
Rafael Munoz-Salinas, Manuel J Marin-Jimenez, and Rafael Medina-Carnicer. 2019. SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86 (2019), 156--171.
[23]
Rafael Muñoz-Salinas and Rafael Medina-Carnicer. 2020. UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101 (2020), 107193.
[24]
Seongin Na, Yiping Qiu, Ali E Turgut, Jiří Ulrich, Tomáš Krajník, Shigang Yue, Barry Lennox, and Farshad Arvin. 2020. Bio-inspired artificial pheromone system for swarm robotics applications. Adaptive Behavior (2020), 1059712320918936.
[25]
Seongin Na, Mohsen Raoufi, Ali Emre Turgut, Tomáš Krajník, and Farshad Arvin. 2019. Extended artificial pheromone system for swarm robotic applications. In Artificial life conference proceedings. MIT Press, 608--615.
[26]
Matías Nitsche, Taihú Pire, Tomáš Krajník, Miroslav Kulich, and Marta Mejail. 2014. Monte carlo localization for teach-and-repeat feature-based navigation. In Conference Towards Autonomous Robotic Systems. Springer, 13--24.
[27]
Edwin Olson. 2011. AprilTag: A robust and flexible visual fiducial system. In 2011 IEEE International Conference on Robotics and Automation. IEEE, 3400--3407.
[28]
Francisco J Romero-Ramirez, Rafael Muñoz-Salinas, and Rafael Medina-Carnicer. 2018. Speeded up detection of squared fiducial markers. Image and vision Computing 76 (2018), 38--47.
[29]
Martin Saska. 2015. MAV-swarms: unmanned aerial vehicles stabilized along a given path using onboard relative localization. In 2015 International Conference on Unmanned Aircraft Systems (ICUAS). IEEE, 894--903.
[30]
Martin Saska, Jan Chudoba, Libor Přeučil, Justin Thomas, Giuseppe Loianno, Adam Třešňák, Vojtěch Vonásek, and Vijay Kumar. 2014. Autonomous deployment of swarms of micro-aerial vehicles in cooperative surveillance. In 2014 International Conference on Unmanned Aircraft Systems (ICUAS). IEEE, 584--595.
[31]
Daniel Wagner and Dieter Schmalstieg. 2007. Artoolkitplus for pose tracking on mobile devices. (2007).
[32]
Aaron Weinstein, Adam Cho, Giuseppe Loianno, and Vijay Kumar. 2018. Visual inertial odometry swarm: An autonomous swarm of vision-based quadrotors. IEEE Robotics and Automation Letters 3, 3 (2018), 1801--1807.
[33]
Shaowu Yang, Sebastian A Scherer, and Andreas Zell. 2013. An onboard monocular vision system for autonomous takeoff, hovering and landing of a micro aerial vehicle. Journal of Intelligent & Robotic Systems 69, 1--4 (2013), 499--515.

Cited By

View all
  • (2024)Enhanced STag Marker System: Materials and Methods for Flexible Robot LocalisationMachines10.3390/machines1301000213:1(2)Online publication date: 24-Dec-2024
  • (2024)Accurate estimation of 6-DoF tooth pose in 3D intraoral scans for dental applications using deep learning基于深度学习的口腔三维扫描中六方位自由度牙齿姿态准确估算Frontiers of Information Technology & Electronic Engineering10.1631/FITEE.230059625:9(1240-1249)Online publication date: 30-Sep-2024
  • (2024)Self-organizing nervous systems for robot swarmsScience Robotics10.1126/scirobotics.adl51619:96Online publication date: 13-Nov-2024
  • Show More Cited By

Index Terms

  1. Towards fast fiducial marker with full 6 DOF pose estimation

    Recommendations

    Comments

    Information & Contributors

    Information

    Published In

    cover image ACM Conferences
    SAC '22: Proceedings of the 37th ACM/SIGAPP Symposium on Applied Computing
    April 2022
    2099 pages
    ISBN:9781450387132
    DOI:10.1145/3477314
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

    Sponsors

    Publisher

    Association for Computing Machinery

    New York, NY, United States

    Publication History

    Published: 06 May 2022

    Permissions

    Request permissions for this article.

    Check for updates

    Author Tags

    1. fiducial markers
    2. swarm robotics
    3. visual tracking

    Qualifiers

    • Research-article

    Funding Sources

    • Czech Science Foundation (GACR)

    Conference

    SAC '22
    Sponsor:

    Acceptance Rates

    Overall Acceptance Rate 1,650 of 6,669 submissions, 25%

    Upcoming Conference

    SAC '25
    The 40th ACM/SIGAPP Symposium on Applied Computing
    March 31 - April 4, 2025
    Catania , Italy

    Contributors

    Other Metrics

    Bibliometrics & Citations

    Bibliometrics

    Article Metrics

    • Downloads (Last 12 months)85
    • Downloads (Last 6 weeks)4
    Reflects downloads up to 16 Feb 2025

    Other Metrics

    Citations

    Cited By

    View all
    • (2024)Enhanced STag Marker System: Materials and Methods for Flexible Robot LocalisationMachines10.3390/machines1301000213:1(2)Online publication date: 24-Dec-2024
    • (2024)Accurate estimation of 6-DoF tooth pose in 3D intraoral scans for dental applications using deep learning基于深度学习的口腔三维扫描中六方位自由度牙齿姿态准确估算Frontiers of Information Technology & Electronic Engineering10.1631/FITEE.230059625:9(1240-1249)Online publication date: 30-Sep-2024
    • (2024)Self-organizing nervous systems for robot swarmsScience Robotics10.1126/scirobotics.adl51619:96Online publication date: 13-Nov-2024
    • (2024)FidMark: A Fiducial Marker Ontology for Semantically Describing Visual MarkersThe Semantic Web10.1007/978-3-031-60635-9_14(235-250)Online publication date: 26-May-2024
    • (2023)Federated Reinforcement Learning for Collective Navigation of Robotic SwarmsIEEE Transactions on Cognitive and Developmental Systems10.1109/TCDS.2023.323981515:4(2122-2131)Online publication date: Dec-2023
    • (2023)Mechatronic Design for Multi Robots-Insect Swarms Interactions2023 IEEE International Conference on Mechatronics (ICM)10.1109/ICM54990.2023.10102026(1-6)Online publication date: 15-Mar-2023
    • (2022)A Vision-based System for Social Insect Tracking2022 2nd International Conference on Robotics, Automation and Artificial Intelligence (RAAI)10.1109/RAAI56146.2022.10092977(277-283)Online publication date: 9-Dec-2022

    View Options

    Login options

    View options

    PDF

    View or Download as a PDF file.

    PDF

    eReader

    View online with eReader.

    eReader

    Figures

    Tables

    Media

    Share

    Share

    Share this Publication link

    Share on social media