Testing Procedures Architecture for Establishing a Fiducial Marker Recognition Quality in UAV-based Visual Marker Tracking Task in Gazebo Simulator

DOI 被引用文献1件
  • Kilin Mikhail
    Intelligent Robotics Department, Kazan Federal University
  • Lavrenov Roman
    Intelligent Robotics Department, Kazan Federal University
  • Bai Yang
    Information Science and Engineering Department, Ritsumeikan University
  • Svinin Mikhail
    Information Science and Engineering Department, Ritsumeikan University
  • Magid Evgeni
    Intelligent Robotics Department, Kazan Federal University

説明

Fiducial markers could be used in different tasks, including UAV and UGV marker-based localization. In most cases developers do not consider features of fiducial markers' systems (FMS) while selecting a particular FMS for a project. However, this selection might significantly influence results of experiments and thus the quality of a resulting product, an algorithm or a software. In this work, we define an architecture of experimental framework that allows finding an optimal marker for a UAV in a mobile ground object following task. The proposed framework estimates an average deviation of a detected Aruco marker position and an accuracy of the UAV landing on the marker. The framework uses Robot Operating System and employs UAV PX4 LIRS model in the Gazebo simulator.

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詳細情報 詳細情報について

  • CRID
    1390854717501751936
  • DOI
    10.5954/icarob.2022.os17-5
  • ISSN
    21887829
  • 本文言語コード
    en
  • データソース種別
    • JaLC
    • Crossref
    • OpenAIRE
  • 抄録ライセンスフラグ
    使用不可

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