dc.date.accessioned |
2019-01-22T20:36:54Z |
|
dc.date.available |
2019-01-22T20:36:54Z |
|
dc.date.issued |
2018 |
|
dc.identifier.issn |
0302-9743 |
|
dc.identifier.uri |
https://dspace.kpfu.ru/xmlui/handle/net/147977 |
|
dc.description.abstract |
© Springer Nature Switzerland AG 2018. This paper presents our pilot study of experiments automation with a real robot in order to compare performance of different fiducial marker systems, which could be used in automated camera calibration process. We used Russian humanoid robot AR-601M and automated it’s manipulators for performing joint rotations. This paper is an extension of our previous work on ARTag, AprilTag and CALTag marker comparison in laboratory settings with large-sized markers that had showed significant superiority of CALTag system over the competitors. This time the markers were scaled down and placed on AR-601M humanoid’s palms. We automated experiments of marker rotations, analyzed the results and compared them with the previously obtained results of manual experiments with large-sized markers. The new automated pilot experiments, which were performed both in pure laboratory conditions and pseudo field environments, demonstrated significant differences with previously obtained manual experimental results: AprilTag marker system demonstrated the best performance with a success rate of 97,3% in the pseudo field environment, while ARTag was the most successful in the laboratory conditions. |
|
dc.relation.ispartofseries |
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
|
dc.subject |
AprilTag |
|
dc.subject |
AR-601M |
|
dc.subject |
ARTag |
|
dc.subject |
CALTag |
|
dc.subject |
Experimental comparison |
|
dc.subject |
Fiducial marker systems |
|
dc.subject |
Humanoid robot |
|
dc.title |
Comparing fiducial markers performance for a task of a humanoid robot self-calibration of manipulators: A pilot experimental study |
|
dc.type |
Conference Paper |
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dc.relation.ispartofseries-volume |
11097 LNAI |
|
dc.collection |
Публикации сотрудников КФУ |
|
dc.relation.startpage |
249 |
|
dc.source.id |
SCOPUS03029743-2018-11097-SID85053843104 |
|