Abstract
Fiducial marker systems have unique designs and various geometric shapes but all of them could be automatically detected with cameras. Fiducial marker system are used in such fields as augmented reality applications, medicine, space and robot-assisted tasks. A variety of applications determines criteria, which characterize qualitative properties of a marker and include such evaluation benchmarks as resilience to occlusion, distance to a marker, false positive and false negative rates, sensitivity to illumination, and others. This paper presents experimental comparison of existing ARTag, AprilTag, and CALTag systems with regard to their reliability and detection rate in occlusions of various types and intensities. Two camera types are used for experiments: inexpensive Web camera FaceCam 1000X and a high fidelity camera, which is a main vision sensor of a Russian humanoid robot AR-601M. In addition, we describe preliminary results of virtual experiments in ROS Gazebo 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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Afanasyev, I., Sagitov, A., Magid, E.: ROS-based SLAM for a Gazebo-simulated mobile robot in image-based 3D model of indoor environment. In: International Conference on Advanced Concepts for Intelligent Vision Systems, pp. 273–283. Springer, Cham (2015)
Atcheson, B., Heide, F., Heidrich, W.: Caltag: high precision fiducial markers for camera calibration. In: VMV, vol. 10, pp. 41–48. Citeseer (2010)
Bergamasco, F., Albarelli, A., Rodola, A., Torsello, A.: Rune-tag: a high accuracy fiducial marker with strong occlusion resilience. In: Conference on Computer Vision and Pattern Recognition, pp. 113–120. IEEE (2011)
Dhiman, V., Ryde, J., Corso, J.J.: Mutual localization: two camera relative 6-DOF pose estimation from reciprocal fiducial observation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, pp. 1347–1354 (2013)
Fiala, M.: ARTag, a fiducial marker system using digital techniques. In: Computer Society Conference on Computer Vision and Pattern Recognition, vol. 2, pp. 590–596. IEEE (2005)
Fiala, M.: Comparing ARTag and ARToolkit plus fiducial marker systems. In: International Workshop on Haptic Audio Visual Environments and their Applications, p. 6. IEEE (2005)
Garrido-Jurado, S., Muoz-Salinas, R., Jos Madrid-Cuevas, F., Jess Marn-Jimnez, M.: Automatic generation and detection of highly reliable fiducial markers under occlusion. Pattern Recognit. 47(6), 280–2292 (2014)
Hirzer, M.: Marker Detection for Augmented Reality Applications. Seminar/Project Image Analysis Graz (2008)
Kato, H., Billinghurst, M.: Marker tracking and HMD calibration for a video-based augmented reality conferencing system. In: Proceedings of the 2nd IEEE and ACM International Workshop on Augmented Reality, pp. 85–94. IEEE (1999)
Khusainov, R., Shimchik, I., Afanasyev, I., Magid, E.: 3D modelling of biped robot locomotion with walking primitives approach in simulink environment. Lecture Notes in Electrical Engineering, vol. 383(30), pp. 287–304. Springer International Publishing, Berlin (2016)
Kuriya, R., Tsujimura, T., Izumi, K.: Augmented reality robot navigation using infrared marker. In: 24th IEEE International Symposium on Robot and Human Interactive Communication, pp. 450–455 (2015)
Naimark, L., Foxlin, E.: Circular data matrix fiducial system and robust image processing for a wearable vision-inertial self-tracker. In: 2002 International Symposium on Mixed and Augmented Reality, ISMAR 2002. Proceedings, pp. 27–36. IEEE (2002)
Olson, E.: AprilTag: a robust and flexible visual fiducial system. In: International Conference on Robotics and Automation, pp. 3400–3407. IEEE (2011)
Wang, Y.P., Ye, A.Q.: Maxicode data extraction using spatial domain features. Patent number US6053407, 2000
Reuter, A., Seidel, H.-P., Ihrke, I.: BlurTags: spatially varying PSF estimation with out-of-focus patterns. In: 20th International Conference on Computer Graphics, Visualization and Computer Vision, pp. 239–247 (2012)
Rice, A.C., Beresford, A.R., Harle, R.K.: Cantag: an open source software toolkit for designing and deploying marker-based vision systems. In: 4th International Conference on Pervasive Computing and Communications, p. 10. IEEE (2006)
Sagitov, A., Shabalina, K., Lavrenov, R., Magid, E.: Comparing fiducial marker systems in the presence of occlusion. In: International Conference on Mechanical, System and Control Engineering, pp. 377–382 (2017)
Sagitov, A., Shabalina, K., Magid, E.: ARTag, AprilTag and CALTag fiducial marker systems: comparison in a presence of partial marker occlusion and rotation. InL International Conference on Informatics in Control, Automation and Robotics (2017)
Sattar, J., Bourque, E., Giguere, P., Dudek, G.: Fourier tags: smoothly degradable fiducial markers for use in human-robot interaction. In: 4th Canadian Conference on Computer and Robot Vision, pp. 165–174. IEEE (2007)
Shabalina, K., Sagitov, A., Magid, E.: Comparing fiducial marker systems occlusion resilience through a robot eye. In: International Conference on Developments in eSystems Engineering, 2017 (to appear)
Shabalina, K., Sagitov, A., Magid, E.: Virtual experimental stand for automated fiducial marker comparison in ROS/Gazebo environment. In: International Conference on Artificial Life and Robotics, 2018 (to appear)
Wills, M.: AprilTags for package ROS. https://github.com/RIVeR-Lab/apriltags_ros
Zhang, Z.: A flexible new technique for camera calibration. IEEE Trans. Pattern Anal. Mach. Intell. 22(11), 1330–1334 (2000)
Acknowledgements
This work was partially supported by the Russian Foundation for Basic Research (RFBR), Tatarstan Academy of Sciences and State of Israel Ministry of Science Technology and Space (project IDs 15-57-06010 and 17-48-160879). Part of the work was performed according to the Russian Government Program of Competitive Growth of Kazan Federal University.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Shabalina, K., Sagitov, A., Sabirova, L., Li, H., Magid, E. (2020). ARTag, AprilTag and CALTag Fiducial Systems Comparison in a Presence of Partial Rotation: Manual and Automated Approaches. In: Gusikhin, O., Madani, K. (eds) Informatics in Control, Automation and Robotics . ICINCO 2017. Lecture Notes in Electrical Engineering, vol 495. Springer, Cham. https://doi.org/10.1007/978-3-030-11292-9_27
Download citation
DOI: https://doi.org/10.1007/978-3-030-11292-9_27
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-11291-2
Online ISBN: 978-3-030-11292-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)