Improved Pose Estimation of Aruco Tags Using a Novel 3D Placement Strategy
This paper extends the topic of monocular pose estimation of an object using Aruco tags imaged by RGB cameras. The accuracy of the Open CV Camera calibration and Aruco pose estimation pipelines is tested in detail by performing standardized tests with multiple Intel Realsense D435 Cameras. Analyzing...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-08-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/20/17/4825 |
| _version_ | 1797555447600775168 |
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| author | Petr Oščádal Dominik Heczko Aleš Vysocký Jakub Mlotek Petr Novák Ivan Virgala Marek Sukop Zdenko Bobovský |
| author_facet | Petr Oščádal Dominik Heczko Aleš Vysocký Jakub Mlotek Petr Novák Ivan Virgala Marek Sukop Zdenko Bobovský |
| author_sort | Petr Oščádal |
| collection | DOAJ |
| description | This paper extends the topic of monocular pose estimation of an object using Aruco tags imaged by RGB cameras. The accuracy of the Open CV Camera calibration and Aruco pose estimation pipelines is tested in detail by performing standardized tests with multiple Intel Realsense D435 Cameras. Analyzing the results led to a way to significantly improve the performance of Aruco tag localization which involved designing a 3D Aruco board, which is a set of Aruco tags placed at an angle to each other, and developing a library to combine the pose data from the individual tags for both higher accuracy and stability. |
| first_indexed | 2024-03-10T16:47:37Z |
| format | Article |
| id | doaj.art-3a29a59a62cc429f9260944cab73eb99 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T16:47:37Z |
| publishDate | 2020-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-3a29a59a62cc429f9260944cab73eb992023-11-20T11:26:36ZengMDPI AGSensors1424-82202020-08-012017482510.3390/s20174825Improved Pose Estimation of Aruco Tags Using a Novel 3D Placement StrategyPetr Oščádal0Dominik Heczko1Aleš Vysocký2Jakub Mlotek3Petr Novák4Ivan Virgala5Marek Sukop6Zdenko Bobovský7Department of Robotics, Faculty of Mechanical Engineering, VSB-TU Ostrava, 70833 Ostrava, Czech RepublicDepartment of Robotics, Faculty of Mechanical Engineering, VSB-TU Ostrava, 70833 Ostrava, Czech RepublicDepartment of Robotics, Faculty of Mechanical Engineering, VSB-TU Ostrava, 70833 Ostrava, Czech RepublicDepartment of Robotics, Faculty of Mechanical Engineering, VSB-TU Ostrava, 70833 Ostrava, Czech RepublicDepartment of Robotics, Faculty of Mechanical Engineering, VSB-TU Ostrava, 70833 Ostrava, Czech RepublicDepartment of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, 04200 Košice, SlovakiaDepartment of Robotics, Faculty of Mechanical Engineering, Technical University of Košice, 04200 Košice, SlovakiaDepartment of Robotics, Faculty of Mechanical Engineering, VSB-TU Ostrava, 70833 Ostrava, Czech RepublicThis paper extends the topic of monocular pose estimation of an object using Aruco tags imaged by RGB cameras. The accuracy of the Open CV Camera calibration and Aruco pose estimation pipelines is tested in detail by performing standardized tests with multiple Intel Realsense D435 Cameras. Analyzing the results led to a way to significantly improve the performance of Aruco tag localization which involved designing a 3D Aruco board, which is a set of Aruco tags placed at an angle to each other, and developing a library to combine the pose data from the individual tags for both higher accuracy and stability.https://www.mdpi.com/1424-8220/20/17/4825Arucopose estimation3D grid boardprecision |
| spellingShingle | Petr Oščádal Dominik Heczko Aleš Vysocký Jakub Mlotek Petr Novák Ivan Virgala Marek Sukop Zdenko Bobovský Improved Pose Estimation of Aruco Tags Using a Novel 3D Placement Strategy Sensors Aruco pose estimation 3D grid board precision |
| title | Improved Pose Estimation of Aruco Tags Using a Novel 3D Placement Strategy |
| title_full | Improved Pose Estimation of Aruco Tags Using a Novel 3D Placement Strategy |
| title_fullStr | Improved Pose Estimation of Aruco Tags Using a Novel 3D Placement Strategy |
| title_full_unstemmed | Improved Pose Estimation of Aruco Tags Using a Novel 3D Placement Strategy |
| title_short | Improved Pose Estimation of Aruco Tags Using a Novel 3D Placement Strategy |
| title_sort | improved pose estimation of aruco tags using a novel 3d placement strategy |
| topic | Aruco pose estimation 3D grid board precision |
| url | https://www.mdpi.com/1424-8220/20/17/4825 |
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