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Scalable Fiducial Tag Localization on a 3D Prior Map via Graph-Theoretic Global Tag-Map Registration

2022-07-25 07:18:50
Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno
arXiv_RO
           
Abstract

This paper presents an accurate and scalable method for fiducial tag localization on a 3D prior environmental map. The proposed method comprises three steps: 1) visual odometry-based landmark SLAM for estimating the relative poses between fiducial tags, 2) geometrical matching-based global tag-map registration via maximum clique finding, and 3) tag pose refinement based on direct camera-map alignment with normalized information distance. Through simulation-based evaluations, the proposed method achieved a 98 \% global tag-map registration success rate and an average tag pose estimation accuracy of a few centimeters. Experimental results in a real environment demonstrated that it enables to localize over 110 fiducial tags placed in an environment in 25 minutes for data recording and post-processing.

Abstract (translated)

URL

https://arxiv.org/abs/2207.11942

PDF

https://arxiv.org/pdf/2207.11942.pdf

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