Related papers: Fiducial Tag Localization on a 3D LiDAR Prior Map
Image-based fiducial markers are useful in problems such as object tracking in cluttered or textureless environments, camera (and multi-sensor) calibration tasks, and vision-based simultaneous localization and mapping (SLAM). The…
This paper presents an accurate and scalable method for fiducial tag localization on a 3D prior environmental map. The proposed method comprises three steps: 1) visual odometry-based landmark SLAM for estimating the relative poses between…
LiDAR sensors are essential for autonomous systems, yet LiDAR fiducial markers (LFMs) lag behind visual fiducial markers (VFMs) in adoption and utility. Bridging this gap is vital for robotics and computer vision but challenging due to the…
Although fiducial markers give an accurate pose estimation in laboratory conditions, where the noisy factors are controlled, using them in field robotic applications remains a challenge. This is constrained to the fiducial maker systems,…
Fiducial markers have been playing an important role in augmented reality (AR), robot navigation, and general applications where the relative pose between a camera and an object is required. Here we introduce TopoTag, a robust and scalable…
Visual fiducial systems are a key component of many robotics and AR/VR applications for 6-DOF monocular relative pose estimation and target identification. This paper presents LFTag, a visual fiducial system based on topological detection…
Advancements in LiDAR technology have led to more cost-effective production while simultaneously improving precision and resolution. As a result, LiDAR has become integral to vehicle localization, achieving centimeter-level accuracy through…
The fiducial marker system for LiDAR is crucial for the robotic application but it is still rare to date. In this paper, an Intensity Image-based LiDAR Fiducial Marker (IILFM) system is developed. This system only requires an unstructured…
We propose a method for autonomous precision drone landing with fiducial markers and a gimbal-mounted, multi-payload camera with wide-angle, zoom, and IR sensors. The method has minimal data requirements; it depends primarily on the…
Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in advance. We emphasize…
Fiducial systems provide a computationally cheap way for mobile robots to estimate the pose of objects, or their own pose, using just a monocular camera. However, the orientation component of the pose of fiducial markers is unreliable,…
The rise of automation in robotics necessitates the use of high-quality perception systems, often through the use of multiple sensors. A crucial aspect of a successfully deployed multi-sensor system is the calibration with a known object…
TagSLAM provides a convenient, flexible, and robust way of performing Simultaneous Localization and Mapping (SLAM) with AprilTag fiducial markers. By leveraging a few simple abstractions (bodies, tags, cameras), TagSLAM provides a front end…
Fiducial markers provide better-defined features than the ones naturally available in the scene. For this reason, they are widely utilized in computer vision applications where reliable pose estimation is required. Factors such as imaging…
Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…
A fiducial marker system usually consists of markers, a detection algorithm, and a coding system. The appearance of markers and the detection robustness are generally limited by the existing detection algorithms, which are hand-crafted with…
Point cloud registration is a prerequisite for many applications in computer vision and robotics. Most existing methods focus on pairwise registration of two point clouds with high overlap. Although there have been some methods for low…
By harnessing fiducial markers as visual landmarks in the environment, Unmanned Aerial Vehicles (UAVs) can rapidly build precise maps and navigate spaces safely and efficiently, unlocking their potential for fluent collaboration and…
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…