不可視フィデューシャルマーカーiMarkersの可能性を解き明かす
Unveiling the Potential of iMarkers: Invisible Fiducial Markers for Advanced Robotics
人間には見えずロボットやARデバイスだけが検出できる不可視フィデューシャルマーカーiMarkersを提案し、その設計・検出アルゴリズム・有効性を検証した論文。
著者: Ali Tourani, Deniz Isinsu Avsar, Hriday Bavle, Jose Luis Sanchez-Lopez, Jan Lagerwall, Holger Voos
分類: cs.RO, cs.CV, cs.HC
原文アブストラクト
Fiducial markers are widely used in robotics for navigation, object recognition, and scene understanding. While offering significant advantages for robots and Augmented Reality (AR) applications, they often disrupt the visual aesthetics of environments, as they are visible to humans, making them unsuitable for many everyday use cases. To address this gap, this paper presents iMarkers, innovative, unobtrusive fiducial markers detectable exclusively by robots and AR devices equipped with adequate sensors and detection algorithms. These markers offer high flexibility in production, allowing customization of their visibility range and encoding algorithms to suit various demands. The paper also introduces the hardware designs and open-sourced software algorithms developed for detecting iMarkers, highlighting their adaptability and robustness in the detection and recognition stages. Numerous evaluations have demonstrated the effectiveness of iMarkers relative to conventional (printed) and blended fiducial markers and have confirmed their applicability across diverse robotics scenarios.
