Evaluation of Visual Markers Detection Used for Autonomous Mobile Robot Docking Navigation

0508663 - ÚT 2020 RIV CH eng C - Konferenční příspěvek (zahraniční konf.)
Krejsa, Jiří - Věchet, Stanislav
Evaluation of Visual Markers Detection Used for Autonomous Mobile Robot Docking Navigation.
Advances in Intelligent Systems and Computing. Cham: Springer Verlag, 2019 - (Szewczyk, R.; Nowicki, M.; Ostaszewska-Lizewska, A.; Krejsa, J.), s. 229-236. 1044. ISBN 978-3-030-29992-7. ISSN 2194-5357.
[Mechatronics 2019. Varšava (PL), 16.09.2019-18.09.2019]
Institucionální podpora: RVO:61388998
Klíčová slova: mobile robot docking * visual markers detection
Obor OECD: Robotics and automatic control

The paper deals with the evaluation of visual markers detection. The markers are used for the navigation during the autonomous mobile robot docking procedure. In order to navigate to the docking station, the station must be easily detectable. AR (augmented reality) markers are designed with respect to the precision and low computational load of detection. The paper evaluates the properties of detec-tion for AR markers supported in ROS, in particular the Alvar and Apriltag markers detectors. Experiments handle both single and double markers, precision is evaluated with respect to the distance, angle and relative tangential velocity of robot’s camera towards the marker.
Trvalý link: http://hdl.handle.net/11104/0304911