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

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dc.contributor.authorAdámek, Romancs
dc.contributor.authorBrablc, Martincs
dc.contributor.authorVávra, Patrikcs
dc.contributor.authorDobossy, Barnabáscs
dc.contributor.authorFormánek, Martincs
dc.contributor.authorRadil, Filipcs
dc.coverage.issue12cs
dc.coverage.volume23cs
dc.date.issued2023-06-20cs
dc.description.abstractPlanar 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.en
dc.formattextcs
dc.format.extent20cs
dc.format.mimetypeapplication/pdfcs
dc.identifier.citationSENSORS. 2023, vol. 23, issue 12, 20 p.en
dc.identifier.doi10.3390/s23125746cs
dc.identifier.issn1424-8220cs
dc.identifier.orcid0000-0002-8026-5740cs
dc.identifier.orcid0000-0002-8675-8060cs
dc.identifier.orcid0000-0002-0351-9671cs
dc.identifier.orcid0000-0003-0269-1506cs
dc.identifier.orcid0000-0002-5594-6085cs
dc.identifier.other184395cs
dc.identifier.researcheridQ-4926-2017cs
dc.identifier.scopus57192820917cs
dc.identifier.urihttp://hdl.handle.net/11012/244965
dc.language.isoencs
dc.publisherMDPIcs
dc.relation.ispartofSENSORScs
dc.relation.urihttps://www.mdpi.com/1424-8220/23/12/5746cs
dc.rightsCreative Commons Attribution 4.0 Internationalcs
dc.rights.accessopenAccesscs
dc.rights.sherpahttp://www.sherpa.ac.uk/romeo/issn/1424-8220/cs
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/cs
dc.subjectplanar fiducial markeren
dc.subjectrobot localisationen
dc.subjectKalman filteren
dc.subjectobservation noiseen
dc.titleAnalytical Models for Pose Estimate Variance of Planar Fiducial Markers for Mobile Robot Localisationen
dc.type.driverarticleen
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen
sync.item.dbidVAV-184395en
sync.item.dbtypeVAVen
sync.item.insts2025.02.03 15:49:19en
sync.item.modts2025.01.17 16:38:35en
thesis.grantorVysoké učení technické v Brně. Fakulta strojního inženýrství. Ústav mechaniky těles, mechatroniky a biomechanikycs
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