2 ms·
Fiducials don’t need to be ON the road. They can be on signage or whatever. But fiducials are cheap. Just paint. (And you can, in fact, draw them by hand using
by Robotbeat 6y ago
Fiducials don’t need to be ON the road. They can be on signage or whatever. But fiducials are cheap. Just paint. (And you can, in fact, draw them by hand using a ruler, a square, and patience.)
They are error-detecting and error-correcting digital signage that gives you precision 6dof orientation “for free.” (And you can do even better... can stick a bunch of them all over a deformable object to map back the shape and deformation.... without lengthy registration and with only a single camera... unlike vidicon) And they’re easy to implement in software. Can be extremely fast (<10ms... no real limit as you can implement it in an FPGA) and fairly lightweight and can use basically any kind of digital camera (good or bad).
- ssivark 6y agoAre there such fiducials+libraries available today?
- Robotbeat 6y agoYou can use almost any 2D matrix barcode as a fiducial, and those include error correction/detection already. Signing it would be easy.
- ssivark 6y agoI’m familiar with ARUCOs, but in my experience they tend to be somewhat finicky (Eg: mid-identified with a little bit of noise or unfavorable lighting), and accurate poses tend to require a lot more fiducial markers than might be considered “reasonable”.
- Robotbeat 6y agoThe standard Aruco library in openCV is not the most stable fiducial tracking. But there are lots to choose from