ICRA 2011 Paper Abstract


Paper WeA214.1

Olson, Edwin (University of Michigan)

AprilTag: A Robust and Flexible Visual Fiducial System

Scheduled for presentation during the Regular Sessions "Computer Vision for Robotics and Automation II" (WeA214), Wednesday, May 11, 2011, 10:05−10:20, Room 5J

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Computer Vision for Robotics and Automation, Virtual Reality and Interfaces, Localization


While the use of naturally-occurring features is a central focus of machine perception, artificial features (fiducials) play an important role in creating controllable experiments, ground truthing, and in simplifying the development of systems where perception is not the central objective.

We describe a new visual fiducial system that uses a 2D bar code style ``tag'', allowing full 6 DOF localization of features from a single image. Our system improves upon previous systems, incorporating a fast and robust line detection system, a stronger digital coding system, and greater robustness to occlusion, warping, and lens distortion. While similar in concept to the ARTag system, our method is fully open and the algorithms are documented in detail.



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