Improved Pose Estimation of Aruco Tags Using a Novel 3D Placement Strategy

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...

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Bibliographic Details
Main Authors: Petr Oščádal, Dominik Heczko, Aleš Vysocký, Jakub Mlotek, Petr Novák, Ivan Virgala, Marek Sukop, Zdenko Bobovský
Format: Article
Language:English
Published: MDPI AG 2020-08-01
Series:Sensors
Subjects:
Aruco
pose estimation
3D grid board
precision
Online Access:https://www.mdpi.com/1424-8220/20/17/4825
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spelling doaj-3a29a59a62cc429f9260944cab73eb992020-11-25T03:39:30ZengMDPI AGSensors1424-82202020-08-01204825482510.3390/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
collection DOAJ
language English
format Article
sources DOAJ
author Petr Oščádal
Dominik Heczko
Aleš Vysocký
Jakub Mlotek
Petr Novák
Ivan Virgala
Marek Sukop
Zdenko Bobovský
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
author_facet Petr Oščádal
Dominik Heczko
Aleš Vysocký
Jakub Mlotek
Petr Novák
Ivan Virgala
Marek Sukop
Zdenko Bobovský
author_sort Petr Oščádal
title 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_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_sort improved pose estimation of aruco tags using a novel 3d placement strategy
publisher MDPI AG
series Sensors
issn 1424-8220
publishDate 2020-08-01
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.
topic Aruco
pose estimation
3D grid board
precision
url https://www.mdpi.com/1424-8220/20/17/4825
work_keys_str_mv AT petroscadal improvedposeestimationofarucotagsusinganovel3dplacementstrategy
AT dominikheczko improvedposeestimationofarucotagsusinganovel3dplacementstrategy
AT alesvysocky improvedposeestimationofarucotagsusinganovel3dplacementstrategy
AT jakubmlotek improvedposeestimationofarucotagsusinganovel3dplacementstrategy
AT petrnovak improvedposeestimationofarucotagsusinganovel3dplacementstrategy
AT ivanvirgala improvedposeestimationofarucotagsusinganovel3dplacementstrategy
AT mareksukop improvedposeestimationofarucotagsusinganovel3dplacementstrategy
AT zdenkobobovsky improvedposeestimationofarucotagsusinganovel3dplacementstrategy
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