ARTag, AprilTag and CALTag Fiducial Marker Systems: Comparison in a Presence of Partial Marker Occlusion and Rotation

Artur Sagitov, Ksenia Shabalina, Leysan Sabirova, Hongbing Li, Evgeni Magid

Abstract

Fiducial marker systems consist of patterns that are placed in environment and are automatically detected with a camera using appropriate for the marker detection algorithm. Marker systems are useful for many modern visual applications such as augmented reality, robot navigation and collaboration, industrial and space robotics, and human-robot interaction. A variety of applications demands certain quality assurance for marker properties. Among the most common criteria are resistance to partial occlusion and rotation, sensitivity to lightning conditions, marker size, false positive and false negative rates. This paper compares three types of markers for their resistance to partial occlusion in various types of occlusion and resistance to normal, lateral, and longitudinal rotations. Intensive experimental comparison of tags is presented with analysis. Detection of markers was performed with a common Web camera. Based on our experimental results, we have selected a marker system, which should be preferred for real world applications when only simple inexpensive hardware is available and appearance of rotation and occlusion disturbances are expected in the environment. Our long term goal is to calibrate humanoid robot manipulators in real-world environment applying a pre-calibrated camera of the robot, while the presented in this paper results help selecting a most suitable marker system for further calibration procedures.

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Paper Citation


in Harvard Style

Sagitov A., Shabalina K., Sabirova L., Li H. and Magid E. (2017). ARTag, AprilTag and CALTag Fiducial Marker Systems: Comparison in a Presence of Partial Marker Occlusion and Rotation . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 182-191. DOI: 10.5220/0006478901820191


in Bibtex Style

@conference{icinco17,
author={Artur Sagitov and Ksenia Shabalina and Leysan Sabirova and Hongbing Li and Evgeni Magid},
title={ARTag, AprilTag and CALTag Fiducial Marker Systems: Comparison in a Presence of Partial Marker Occlusion and Rotation},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={182-191},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006478901820191},
isbn={978-989-758-264-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - ARTag, AprilTag and CALTag Fiducial Marker Systems: Comparison in a Presence of Partial Marker Occlusion and Rotation
SN - 978-989-758-264-6
AU - Sagitov A.
AU - Shabalina K.
AU - Sabirova L.
AU - Li H.
AU - Magid E.
PY - 2017
SP - 182
EP - 191
DO - 10.5220/0006478901820191