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International Conference on Informatics in Control, Automation and Robotics

ICINCO 2017: Informatics in Control, Automation and Robotics pp 536–558Cite as

ARTag, AprilTag and CALTag Fiducial Systems Comparison in a Presence of Partial Rotation: Manual and Automated Approaches

Part of the Lecture Notes in Electrical Engineering book series (LNEE,volume 495)

Abstract

Fiducial marker systems have unique designs and various geometric shapes but all of them could be automatically detected with cameras. Fiducial marker system are used in such fields as augmented reality applications, medicine, space and robot-assisted tasks. A variety of applications determines criteria, which characterize qualitative properties of a marker and include such evaluation benchmarks as resilience to occlusion, distance to a marker, false positive and false negative rates, sensitivity to illumination, and others. This paper presents experimental comparison of existing ARTag, AprilTag, and CALTag systems with regard to their reliability and detection rate in occlusions of various types and intensities. Two camera types are used for experiments: inexpensive Web camera FaceCam 1000X and a high fidelity camera, which is a main vision sensor of a Russian humanoid robot AR-601M. In addition, we describe preliminary results of virtual experiments in ROS Gazebo environment. Our long term goal is to calibrate humanoid robot manipulators in real-world environment applying a pre-calibrated camera of the robot, while the presented in this paper results help selecting a most suitable marker system for further calibration procedures.

Keywords

  • Robotics
  • Camera callibration
  • Algorithm comparison
  • Experiments
  • Virtual models
  • ARTag
  • AprilTag
  • CALTag
  • Gazebo

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Acknowledgements

This work was partially supported by the Russian Foundation for Basic Research (RFBR), Tatarstan Academy of Sciences and State of Israel Ministry of Science Technology and Space (project IDs 15-57-06010 and 17-48-160879). Part of the work was performed according to the Russian Government Program of Competitive Growth of Kazan Federal University.

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Authors and Affiliations

  1. Intelligent Robotic Systems Laboratory, Higher Institute of Information Technology and Information Systems, Kazan Federal University, 35 Kremlyovskaya street, Kazan, 420008, Russian Federation

    Ksenia Shabalina, Artur Sagitov, Leysan Sabirova & Evgeni Magid

  2. Department of Instrument Science and Engineering, Shanghai Jiao Tong University, Shanghai, China

    Hongbing Li

Authors
  1. Ksenia Shabalina
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  2. Artur Sagitov
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  3. Leysan Sabirova
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  4. Hongbing Li
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  5. Evgeni Magid
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Corresponding author

Correspondence to Evgeni Magid .

Editor information

Editors and Affiliations

  1. Ford Research and Advanced Engineering, Dearborn, MI, USA

    Oleg Gusikhin

  2. University of Paris-EST Créteil (UPEC), Vitry sur Seine, France

    Kurosh Madani

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Shabalina, K., Sagitov, A., Sabirova, L., Li, H., Magid, E. (2020). ARTag, AprilTag and CALTag Fiducial Systems Comparison in a Presence of Partial Rotation: Manual and Automated Approaches. In: Gusikhin, O., Madani, K. (eds) Informatics in Control, Automation and Robotics . ICINCO 2017. Lecture Notes in Electrical Engineering, vol 495. Springer, Cham. https://doi.org/10.1007/978-3-030-11292-9_27

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