论文标题
4月标签和WHYCODE的方向歧义和检测率的评估
Evaluation of Orientation Ambiguity and Detection Rate in April Tag and WhyCode
论文作者
论文摘要
基准系统为移动机器人提供了一种计算廉价的方式，可以使用单眼相机估算物体或其自己的姿势的姿势。但是，基准标记姿势的方向成分是不可靠的，这可能在自主无人机降落的降落垫上具有信托标记的降落垫中具有破坏性作用。本文根据嵌入式硬件的方向歧义和检测率，评估了四月标签和Whycode基准系统。我们测试4月2日标签变体-1个默认值和1个自定义 - 和3 WhyCode变体-1默认和2个自定义。我们确定它们适用于检测率的自动无人机着陆应用，但由于姿势估计的方向歧义，可能会产生错误的控制信号。
Fiducial systems provide a computationally cheap way for mobile robots to estimate the pose of objects, or their own pose, using just a monocular camera. However, the orientation component of the pose of fiducial markers is unreliable, which can have destructive effects in autonomous drone landing on landing pads marked with fiducial markers. This paper evaluates the April Tag and WhyCode fiducial systems in terms of orientation ambiguity and detection rate on embedded hardware. We test 2 April Tag variants - 1 default and 1 custom - and 3 Whycode variants - 1 default and 2 custom. We determine that they are suitable for autonomous drone landing applications in terms of detection rate, but may generate erroneous control signals as a result of orientation ambiguity in the pose estimates.
