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 \(\times \) 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.
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Notes
- 1.
All the figures in this section are from the authors and have already appeared in proceedings of IEEE ICRA in [6].
- 2.
Active contours scan the normal to the contour in the image until they find an edge. In contrast, we obtain an average displacement in closed form just from the template, which becomes more precise in successive iterations.
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Amor-Martinez, A., Ruiz, A., Moreno-Noguer, F., Sanfeliu, A. (2019). Precise Localization for Aerial Inspection Using Augmented Reality Markers. In: Ollero, A., Siciliano, B. (eds) Aerial Robotic Manipulation. Springer Tracts in Advanced Robotics, vol 129. Springer, Cham. https://doi.org/10.1007/978-3-030-12945-3_18
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