Abstract
This paper presents our pilot study of experiments automation with a real robot in order to compare performance of different fiducial marker systems, which could be used in automated camera calibration process. We used Russian humanoid robot AR-601M and automated it’s manipulators for performing joint rotations. This paper is an extension of our previous work on ARTag, AprilTag and CALTag marker comparison in laboratory settings with large-sized markers that had showed significant superiority of CALTag system over the competitors. This time the markers were scaled down and placed on AR-601M humanoid’s palms. We automated experiments of marker rotations, analyzed the results and compared them with the previously obtained results of manual experiments with large-sized markers. The new automated pilot experiments, which were performed both in pure laboratory conditions and pseudo field environments, demonstrated significant differences with previously obtained manual experimental results: AprilTag marker system demonstrated the best performance with a success rate of 97,3% in the pseudo field environment, while ARTag was the most successful in the laboratory conditions.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Atcheson, B., Heide, F., Heidrich, W.: Caltag: high precision fiducial markers for camera calibration. In: VMV, vol. 10, pp. 41–48 (2010)
DeGol, J., Bretl, T., Hoiem, D.: ChromaTag: a colored marker and fast detection algorithm. arXiv preprint arXiv:1708.02982 (2017). https://doi.org/10.1109/iccv.2017.164
Fiala, M.: ARTag revision 1, a fiducial marker system using digital techniques. Natl. Res. Council Publ. 47419, 1–47 (2004)
Fiala, M.: Comparing ARTag and ARToolkit Plus fiducial marker systems. In: IEEE International Workshop on Haptic Audio Visual Environments and their Applications, pp. 147–152 (2005). https://doi.org/10.1109/have.2005.1545669
Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., MarĂn-JimĂ©nez, M.J.: Automatic generation and detection of highly reliable fiducial markers under occlusion. Pattern Recogn. 47(6), 2280–2292 (2014). https://doi.org/10.1016/j.patcog.2014.01.005
Higashino, S., Nishi, S., Sakamoto, R.: ARTTag: aesthetic fiducial markers based on circle pairs. In: ACM SIGGRAPH 2016 Posters, p. 38 (2016). https://doi.org/10.1145/2945078.2945116
Hirzer, M.: Marker detection for augmented reality applications. In: Seminar/Project Image Analysis Graz, pp. 1–2 (2008)
Kato, H., Billinghurst, M.: Marker tracking and HMD calibration for a video-based augmented reality conferencing system. In: 2nd IEEE and ACM International Workshop on Augmented Reality (IWAR), pp. 85–94 (1999). https://doi.org/10.1109/iwar.1999.803809
Krajnik, T., Nitsche, M., Faigl, J., Duckett, T., Mejail, M., Preucil, L.: External localization system for mobile robotics. In: 2013 16th International Conference on Advanced Robotics (ICAR), pp. 1–6. IEEE (2013). https://doi.org/10.1109/icar.2013.6766520
Magid, E., Sagitov, A.: Towards robot fall detection and management for Russian humanoid AR-601. In: Jezic, G., Kusek, M., Chen-Burger, Y.-H.J., Howlett, R.J., Jain, L.C. (eds.) KES-AMSTA 2017. SIST, vol. 74, pp. 200–209. Springer, Cham (2018). https://doi.org/10.1007/978-3-319-59394-4_20
Sagitov, A., Shabalina, K., Lavrenov, R., Magid, E.: Comparing fiducial marker systems in the presence of occlusion. In: 2017 International Conference on Mechanical, System and Control Engineering (ICMSC), pp. 377–382. IEEE (2017). https://doi.org/10.1109/icmsc.2017.7959505
Sagitov, A., Shabalina, K., Li, H., Magid, E.: Effects of rotation and systematic occlusion on fiducial marker recognition. In: MATEC Web of Conferences, vol. 113, p. 02006. EDP Sciences (2017). https://doi.org/10.1051/matecconf/201711302006
Uchiyama, H., Saito, H.: Random dot markers. In: Virtual Reality Conference (VR), pp. 35–38. IEEE (2011). https://doi.org/10.1109/vr.2011.5759433
Zhang, Z.: A flexible new technique for camera calibration. IEEE Trans. Pattern Anal. Mach. Intell. 22(11), 1330–1334 (2000). https://doi.org/10.1109/34.888718
Acknowledgements
This work was partially supported by the Russian Foundation for Basic Research (RFBR) project ID 18-58-45017. Part of the work was performed according to the Russian Government Program of Competitive Growth of Kazan Federal University.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer Nature Switzerland AG
About this paper
Cite this paper
Shabalina, K., Sagitov, A., Svinin, M., Magid, E. (2018). Comparing Fiducial Markers Performance for a Task of a Humanoid Robot Self-calibration of Manipulators: A Pilot Experimental Study. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2018. Lecture Notes in Computer Science(), vol 11097. Springer, Cham. https://doi.org/10.1007/978-3-319-99582-3_26
Download citation
DOI: https://doi.org/10.1007/978-3-319-99582-3_26
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-99581-6
Online ISBN: 978-3-319-99582-3
eBook Packages: Computer ScienceComputer Science (R0)