Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Indoor Single Camera SLAM using Fiducial Markers

한 대의 카메라와 Fiducial 마커를 이용한 SLAM

  • 임현 (인하대학교 전기공학부) ;
  • 양지혁 (인하대학교 전기공학부) ;
  • 이영삼 (인하대학교 전기공학부) ;
  • 김진걸 (인하대학교 전기공학부)
  • Published : 2009.04.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, a SLAM (Simultaneous Localization and Mapping) method using a single camera and planar fiducial markers is proposed. Fiducial markers are planar patterns that are mounted on the ceiling or wall. Each fiducial marker has a unique hi-tonal identification pattern with square outlines. It can be printed on paper to reduce cost or it can be painted using retro-reflective paint in order to make invisible and prevent undesirable visual effects. Existing localization methods using artificial landmarks have the disadvantage that landmark locations must be known a priori. In contrast, the proposed method can build a map and estimate robot location even if landmark locations are not known a priori. Hence, it reduces installation time and setup cost. The proposed method works good even when only one fiducial marker is seen at a scene. We perform computer simulation to evaluate proposed method.

Keywords

References

  1. T. Bailey and H. Durrant-Whyte, 'Simultaneous localisation and mapping (slam) : Part ii state of the art,' IEEE Robotics and Automation Magazine, 2006 https://doi.org/10.1109/MRA.2006.1678144
  2. A. J. Davison, 1. Reid, N. Molton, and O. Stasse, ;MonoSLAM: Real-time single camera slam,' IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 29, no. 6, June 2007 https://doi.org/10.1109/TPAMI.2007.1049
  3. J. Andrade-Cetto and A. Sanfeliu, 'Environment Learning for Indoor Mobile Robots. A Stochastic State Estimation Approach to Simultaneous Localization and Map Building' SpringerVerlag Berlin and Heidelberg GmbH & Co. K, 2006
  4. A. Davison, 'Active search for real-time vision,' Computer Vision, 2005. ICCV 2005. Tenth IEEE International Conference on, vol. 1, pp. 66-73, Oct. 2005 https://doi.org/10.1109/ICCV.2005.29
  5. G Desouza and A. Kak, 'Vision for mobile robot navigation: a survey,' Pattern Analysis and Machine Intelligence. IEEE Transactions on, vol. 24, no. 2, pp. 237-267, Feb 2002 https://doi.org/10.1109/34.982903
  6. M. Betke and L. Gurvits, 'Mobile robot localization using landmarks,' IEEE Transactions on Robotics and Automation, vol. 13,no. 2,pp. 251-263,April 1997 https://doi.org/10.1109/70.563647
  7. 1. Shimshoni, 'On mobile robot localization from landmark bearings,' IEEE Transactions on Robotics and Automation, vol. 18, no. 6, pp. 971-976, Dec 2002 https://doi.org/10.1109/TRA.2002.805663
  8. V. Ayala, J. H. F.Lerasle, and M.Devy, 'Visual localization of a mobile robot in indoor environments using planar landmarks,' in Proceedings of the 2000 IEEFJRSJ International Conference on Intelligent Robots and Systems, pp. 275-280, 2000
  9. 'StargawrTM,' Hagisonic, South Korea, Daejeon. [Online]. Available: http://www.hagisonic.coml
  10. 'U-satTM,' Korea LPS, South Korea, Pusan. [Online]. Available: http://korealps.co.kr/bbs/productsmodel.html
  11. M. Fiala, Artag, a fiducial marker system using digital techniques, in Proceedings of the Computer Vision and Pattern Recognition (CVPR '05),2005
  12. N. Y, K. M., and Y N., 'Localization of wearable users using invisible retro-reflective markers and an ir camera,' in Proceedings ofSPIE Electronic Imaging, vol. 5664, pp. 563-570, 2005 https://doi.org/10.1117/12.586382
  13. M. Fiala, 'Artag revision 1. a fiducial marker system using digital techniques,' Institute for Information Technology, Tech. Rep. NRCIERB-1117, November 2004
  14. H. Kato and M. Billinghurst, 'Marker tracking and hmd calibration for a video-based augmented reality conferencing system,' in Proceedings of the 2nd International Workshop on AugmentedReality (IWAR 99), San Francisco, USA, Vol.1 Oct. 1999
  15. W. Daniel and S. Diester, 'Artoolkitplus for pose tracking on mobile devices,' in Proceedings of 12th Computer Vision Winter Workshop (CVWW'07), 2007
  16. M. Fiala, 'Comparing artag and artoolkit plus fiducial marker systems,' in IEEE International Workshop on Haptic Audio Visual Environments and their Applications, Ottawa, Ontario, Canada, 2005
  17. T. Okuma, K. Sakaue, H. Takemura, and N. Yokoya, 'Real-time camera parameter estimation from images for a mixed reality system,' in Proceedings of 15th International Conference on Pattern Recognition, vol. 4, pp. 482-486, 2000 https://doi.org/10.1109/ICPR.2000.902962
  18. M. W. M. G Dissanayake, P. Newman, S. Clark, H. F. DurrantWhyte, and M. Csorba, 'A solution to the simultaneous localization and map building (slam) problem,' IEEE Transactions on Robotics and Automation, vol. 17, no. 3, pp. 229-241, June 2001 https://doi.org/10.1109/70.938381
  19. A. J. Davison and N. Kita, 'Sequential localization and mapbuilding for real-time computer vision and robotics,' Robotics andAutonomous Systems, vol. 36, no. 4, pp. 171-183,2001 https://doi.org/10.1016/S0921-8890(01)00141-5
  20. A. J. Davison, 'Mobile robot navigation using active vision', PhD. dissertation, Department of Engineering ScienceUniversity of Oxford, 1998