Pilot virtual experiments on aruco and ArTag systems comparison for fiducial marker rotation resistance

Abstract

© Springer Nature Singapore Pte Ltd 2020. A growing number of researches and industrial projects use fiducial markers for scientific and commercial purposes. A large number of different fiducial marker types and difficulty of their comparison make impossible to reasonably and properly select a fiducial marker system for a particular task. This paper presents an efficient approach to compare different marker systems in virtual ROS/Gazebo environment and results of our pilot experiments that were conducted with ArUco and ArTag markers. The presented results show the difference of marker systems with regard to their resistance to rotations. Experiments were designed in a special way that maximally eliminates external environment influence, including light conditions, camera resolution, sensor noise, distance between a camera and a marker. In total, over 500,000 experimental outcomes were analyzed and interpreted to collect statistically significant amount of data.