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dc.contributor.authorMora, Alejandro
dc.contributor.authorGuerra Paradas, Edmundo
dc.contributor.authorManzanares Brotons, Manuel
dc.contributor.authorGrau Saldes, Antoni
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria Electrònica
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2021-03-02T08:57:35Z
dc.date.available2021-03-02T08:57:35Z
dc.date.issued2019
dc.identifier.citationMora, A. [et al.]. Towards robust 6-DoF detection in uncontrolled lightning enviroments. A: IEEE International Conference on Emerging Technologies and Factory Automation. "2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA): proceedings: University of Zaragoza, Zaragoza, Spain: 10-13 September, 2019". 2019, p. 1607-1611. ISBN 978-1-7281-0303-7. DOI 10.1109/ETFA.2019.8869458.
dc.identifier.isbn978-1-7281-0303-7
dc.identifier.urihttp://hdl.handle.net/2117/340693
dc.description© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
dc.description.abstractOne of the most critical issues that arises when controlling a robot is the necessity to locate itself in the environment. Ranging from industrial processes applications to outdoor mobile robots, landmarks are used to such purpose: by recognizing them, the robots are able to know where they are with the aid of computer vision. Fiducial markers are the cheapest and one of the most common solutions to this issue: 2D planar patterns that embed some information that can be identified using artificial vision techniques. Many different typologies of markers as well as image processing algorithms are being implemented nowadays, using C++ / Python / MATLAB® libraries and ROS as middleware. In this work we have evaluated the robustness of various fiducial marker typologies, documenting the main technical aspects of the used implementations and commenting how each algorithm operates. Aggregated results are presented and discussed, evaluating the different implementations tested.
dc.description.sponsorshipThis research was funded by the Ministry of Economy, Industry and Competitiveness through project DPI2016-78957-R.
dc.format.extent5 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherFiducial markers
dc.subject.otherROS
dc.subject.otherPose estimation
dc.subject.otherPerformance evaluation
dc.titleTowards robust 6-DoF detection in uncontrolled lightning enviroments
dc.typeConference report
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.identifier.doi10.1109/ETFA.2019.8869458
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation
dc.relation.publisherversionhttps://ieeexplore.ieee.org/document/8869458
dc.rights.accessOpen Access
local.identifier.drac29870940
dc.description.versionPostprint (published version)
dc.relation.projectidinfo:eu-repo/grantAgreement/MINECO/1PE/ColRobTransp/DPI2016-78957-R
local.citation.authorMora, A.; Guerra, E.; Manzanares, M.; Grau, A.
local.citation.contributorIEEE International Conference on Emerging Technologies and Factory Automation
local.citation.publicationName2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA): proceedings: University of Zaragoza, Zaragoza, Spain: 10-13 September, 2019
local.citation.startingPage1607
local.citation.endingPage1611


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