Publication

Precise localization for aerial inspection using augmented reality markers

Book Chapter (2019)

Book Title

Aerial Robotic Manipulation. Vol 129 of Springer Tracts in Advanced Robotics

Publisher

Springer

Pages

249-259

Volume

129

Serie

Springer Tracts in Advanced Robotics

Doc link

https://doi.org/10.1007/978-3-030-12945-3_18

File

Download the digital copy of the doc pdf document

Abstract

This chapter is devoted to explaining a method for precise localization using augmented reality markers. This method can achieve precision of less of 5 mm in position at a distance of 0.7 m, using a visual mark of 17 mm × 17 mm, and it can be used by controller when the aerial robot is doing a manipulation task. The localization method is based on optimizing the alignment of deformable contours from textureless images working from the raw vertexes of the observed contour. The algorithm optimizes the alignment of the XOR area computed by means of computer graphics clipping techniques. The method can run at 25 frames per second.

Categories

robots.

Scientific reference

A. Amor, A. Ruiz, F. Moreno-Noguer and A. Sanfeliu. Precise localization for aerial inspection using augmented reality markers. In Aerial Robotic Manipulation. Vol 129 of Springer Tracts in Advanced Robotics, 249-259. Springer, 2019.