Abstract:
This paper presents experimental automated approach for comparing fiducial marker systems. Previously we compared ARTag, AprilTag, CALTag systems under three types of adverse conditions: systematic occlusion, arbitrary overlap with an object and marker rotation. In effort to improve statistical significance of our previous work with manual experiments, we faced a challenge of conducting over a thousand additional experiments. Using Gazebo environment we implemented virtual robot system that performs all necessary manipulations automatically. Further, we investigate adding Gaussian noise in order to make simulations more realistic.
