Fiducial Marker based Extrinsic Camera Calibration for a Robot Benchmarking Platform

Korthals T, Wolf D, Rudolph D, Hesse M, Rückert U (2019)
In: European Conference on Mobile Robots, ECMR 2019, Prague, CZ, September 4-6, 2019. 1-6.

Konferenzbeitrag | Englisch
 
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Abstract / Bemerkung
Evaluation of robotic experiments requires physical robots as well as position sensing systems. Accurate systems detecting sufficiently all necessary degrees of freedom, like the famous Vicon system, are commonly too expensive. Therefore, we target an economical multi-camera based solution by following these three requirements: Using multiple cameras to track even large laboratory areas, applying fiducial marker trackers for pose identification, and fuse tracking hypothesis resulting from multiple cameras via extended Kalman filter (i.e. ROS's robot\_localization). While the registration of a multi-camera system for collaborative tracking remains a challenging issue, the contribution of this paper is as follows: We introduce the framework of Cognitive Interaction Tracking (CITrack). Then, common fiducial marker tracking systems (ARToolKit, AprilTag, ArUco) are compared with respect to their maintainability. Lastly, a graph-based camera registration approach in SE(3), using the fiducial marker tracking in a multi-camera setup, is presented and evaluated.
Stichworte
Marker tracking; Marker; Fiducial Marker; publication
Erscheinungsjahr
2019
Titel des Konferenzbandes
European Conference on Mobile Robots, ECMR 2019, Prague, CZ, September 4-6, 2019
Seite(n)
1-6
Page URI
https://pub.uni-bielefeld.de/record/2937511

Zitieren

Korthals T, Wolf D, Rudolph D, Hesse M, Rückert U. Fiducial Marker based Extrinsic Camera Calibration for a Robot Benchmarking Platform. In: European Conference on Mobile Robots, ECMR 2019, Prague, CZ, September 4-6, 2019. 2019: 1-6.
Korthals, T., Wolf, D., Rudolph, D., Hesse, M., & Rückert, U. (2019). Fiducial Marker based Extrinsic Camera Calibration for a Robot Benchmarking Platform. European Conference on Mobile Robots, ECMR 2019, Prague, CZ, September 4-6, 2019, 1-6.
Korthals, T., Wolf, D., Rudolph, D., Hesse, M., and Rückert, U. (2019). “Fiducial Marker based Extrinsic Camera Calibration for a Robot Benchmarking Platform” in European Conference on Mobile Robots, ECMR 2019, Prague, CZ, September 4-6, 2019 1-6.
Korthals, T., et al., 2019. Fiducial Marker based Extrinsic Camera Calibration for a Robot Benchmarking Platform. In European Conference on Mobile Robots, ECMR 2019, Prague, CZ, September 4-6, 2019. pp. 1-6.
T. Korthals, et al., “Fiducial Marker based Extrinsic Camera Calibration for a Robot Benchmarking Platform”, European Conference on Mobile Robots, ECMR 2019, Prague, CZ, September 4-6, 2019, 2019, pp.1-6.
Korthals, T., Wolf, D., Rudolph, D., Hesse, M., Rückert, U.: Fiducial Marker based Extrinsic Camera Calibration for a Robot Benchmarking Platform. European Conference on Mobile Robots, ECMR 2019, Prague, CZ, September 4-6, 2019. p. 1-6. (2019).
Korthals, Timo, Wolf, Daniel, Rudolph, Daniel, Hesse, Marc, and Rückert, Ulrich. “Fiducial Marker based Extrinsic Camera Calibration for a Robot Benchmarking Platform”. European Conference on Mobile Robots, ECMR 2019, Prague, CZ, September 4-6, 2019. 2019. 1-6.
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2019-09-20T15:47:55Z
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