KFU. Card publication. Comparing Fiducial Markers Performance for a Task of a Humanoid Robot Self-calibration of Manipulators: A Pilot Experimental Study

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COMPARING FIDUCIAL MARKERS PERFORMANCE FOR A TASK OF A HUMANOID ROBOT SELF-CALIBRATION OF MANIPULATORS: A PILOT EXPERIMENTAL STUDY

Form of presentation

Articles in international journals and collections

Year of publication

2018

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Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Sagitov Artur Gazizovich, author

Shabalina Kseniya Sergeevna, author

Authors, postgraduates KFU

Sagitov Artur Gazizovich, postgraduate kfu

Authors, students KFU

Shabalina Kseniya Sergeevna, author

Bibliographic description in the original language

Shabalina K. Comparing Fiducial Markers Performance for a Task of a Humanoid Robot Self-calibration of Manipulators: A Pilot Experimental Study / Sagitov A., Svinin M., Magid E. // Lecture Notes in Computer Science (incl. subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). - 2018. - Vol. 11097. - p. 249-258.

Annotation

This paper presents our pilot study of experiments automation with a real robot in order to compare performance of different fiducial marker systems, which could be used in automated camera calibration process. We used Russian humanoid robot AR-601M and automated it's manipulators for performing joint rotations. This paper is an extension of our previous work on ARTag, AprilTag and CALTag marker comparison in laboratory settings with large-sized markers that had showed significant superiority of CALTag system over the competitors. This time the markers were scaled down and placed on AR-601M humanoid's palms. We automated experiments of marker rotations, analyzed the results and compared them with the previously obtained results of manual experiments with large-sized markers. The new automated pilot experiments, which were performed both in pure laboratory conditions and pseudo field environments, demonstrated significant differences with previously obtained manual experimental results:

Keywords

ARTag, AprilTag, CALTag, Fiducial marker systems, AR-601M, Humanoid robot, Experimental comparison

The name of the journal

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

URL

https://link.springer.com/chapter/10.1007/978-3-319-99582-3_26

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=186111&p_lang=2

Resource files

File name	Size (MB)	Format
F_2018_Comparing_Fiducial_Markers_Performance_for_a_Task_of_a__umanoid_Robot_Self_calibration.pdf	1,99	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Sagitov Artur Gazizovich	ru_RU
dc.contributor.author	Shabalina Kseniya Sergeevna	ru_RU
dc.contributor.author	Shabalina Kseniya Sergeevna	ru_RU
dc.contributor.author	Sagitov Artur Gazizovich	ru_RU
dc.date.accessioned	2018-01-01T00:00:00Z	ru_RU
dc.date.available	2018-01-01T00:00:00Z	ru_RU
dc.date.issued	2018	ru_RU
dc.identifier.citation	Shabalina K. Comparing Fiducial Markers Performance for a Task of a Humanoid Robot Self-calibration of Manipulators: A Pilot Experimental Study / Sagitov A., Svinin M., Magid E. // Lecture Notes in Computer Science (incl. subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). - 2018. - Vol. 11097. - p. 249-258.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=186111&p_lang=2	ru_RU
dc.description.abstract	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)	ru_RU
dc.description.abstract	This paper presents our pilot study of experiments automation with a real robot in order to compare performance of different fiducial marker systems, which could be used in automated camera calibration process. We used Russian humanoid robot AR-601M and automated it's manipulators for performing joint rotations. This paper is an extension of our previous work on ARTag, AprilTag and CALTag marker comparison in laboratory settings with large-sized markers that had showed significant superiority of CALTag system over the competitors. This time the markers were scaled down and placed on AR-601M humanoid's palms. We automated experiments of marker rotations, analyzed the results and compared them with the previously obtained results of manual experiments with large-sized markers. The new automated pilot experiments, which were performed both in pure laboratory conditions and pseudo field environments, demonstrated significant differences with previously obtained manual experimental results:	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	ARTag	ru_RU
dc.subject	AprilTag	ru_RU
dc.subject	CALTag	ru_RU
dc.subject	Fiducial marker systems	ru_RU
dc.subject	AR-601M	ru_RU
dc.subject	Humanoid robot	ru_RU
dc.subject	Experimental comparison	ru_RU
dc.title	Comparing Fiducial Markers Performance for a Task of a Humanoid Robot Self-calibration of Manipulators: A Pilot Experimental Study	ru_RU
dc.type	Articles in international journals and collections	ru_RU