Publication detail

Analytical Models for Pose Estimate Variance of Planar Fiducial Markers for Mobile Robot Localisation

ADÁMEK, R. BRABLC, M. VÁVRA, P. DOBOSSY, B. FORMÁNEK, M. RADIL, F.

Original Title

Analytical Models for Pose Estimate Variance of Planar Fiducial Markers for Mobile Robot Localisation

Type

journal article in Web of Science

Language

English

Original Abstract

Planar fiducial markers are commonly used to estimate a pose of a camera relative to the marker. This information can be combined with other sensor data to provide a global or local position estimate of the system in the environment using a state estimator such as the Kalman filter. To achieve accurate estimates, the observation noise covariance matrix must be properly configured to reflect the sensor output's characteristics. However, the observation noise of the pose obtained from planar fiducial markers varies across the measurement range and this fact needs to be taken into account during the sensor fusion to provide a reliable estimate. In this work, we present experimental measurements of the fiducial markers in real and simulation scenarios for 2D pose estimation. Based on these measurements, we propose analytical functions that approximate the variances of pose estimates. We demonstrate the effectiveness of our approach in a 2D robot localisation experiment, where we present a method for estimating covariance model parameters based on user measurements and a technique for fusing pose estimates from multiple markers.

Keywords

planar fiducial marker; robot localisation; Kalman filter; observation noise

Authors

ADÁMEK, R.; BRABLC, M.; VÁVRA, P.; DOBOSSY, B.; FORMÁNEK, M.; RADIL, F.

Released

20. 6. 2023

Publisher

MDPI

Location

BASEL

ISBN

1424-8220

Periodical

SENSORS

Year of study

23

Number

12

State

Swiss Confederation

Pages count

20

URL

https://www.mdpi.com/1424-8220/23/12/5746

Full text in the Digital Library

http://hdl.handle.net/11012/244965

BibTex

@article{BUT184395,
  author="Roman {Adámek} and Martin {Brablc} and Patrik {Vávra} and Barnabás {Dobossy} and Martin {Formánek} and Filip {Radil}",
  title="Analytical Models for Pose Estimate Variance of Planar Fiducial Markers for Mobile Robot Localisation",
  journal="SENSORS",
  year="2023",
  volume="23",
  number="12",
  pages="20",
  doi="10.3390/s23125746",
  issn="1424-8220",
  url="https://www.mdpi.com/1424-8220/23/12/5746"
}