Low-cost Robot Motion Capture System Based on ArUco Markers

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<p>A wireless and portable robot position-tracking system is developed based on ArUco markers and a team of cameras, which connect to a remote PC in the same Wi-Fi network. The system is configured to locate two robots running on a 3m× 3m area using different numbers of HDR cameras. The Root Mean Square Error (RMSE) and Detection Ratio are analyzed to evaluate the system’s accuracy and robustness. The results indicate the best detection precision of 0.1345 m obtained using ten cameras and an extended Kalman filter. This research provides a novel and economical solution to building a wireless and portable robot position-tracking system for various potential applications.</p>

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