A novel encoding element for robust pose estimation using planar fiducials.

ABSTRACT: Pose estimation in robotics is often achieved using images from known and purposefully applied markers or fiducials taken by a monocular camera. This low-cost system architecture can provide accurate and precise pose estimation measurements. However, to prevent the restriction of robotic movement and occlusions of features, the fiducial markers are often planar. While numerous planar fiducials exist, the performance of these markers suffers from pose ambiguities and loss of precision under frontal observations. These issues are most prevalent in systems with less-than-ideal specifications such as low-resolution detectors, low field of view optics, far-range measurements etc. To mitigate these issues, encoding markers have been proposed in literature. These markers encode an extra dimension

SUBMITTER: Rijlaarsdam DDW 

PROVIDER: S-EPMC9449645 | biostudies-literature | 2022

REPOSITORIES: biostudies-literature