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

DOI 1 Citations
  • 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

Description

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.

Journal

Citations (1)*help

See more

Keywords

Details 詳細情報について

  • CRID
    1390854717501751936
  • DOI
    10.5954/icarob.2022.os17-5
  • ISSN
    21887829
  • Text Lang
    en
  • Data Source
    • JaLC
    • Crossref
    • OpenAIRE
  • Abstract License Flag
    Disallowed

Report a problem

Back to top