3
$\begingroup$

Which is the best visual fiducial marker (2D barcode) for detection and robust and accurate pose estimation?

Im not looking for a fiducial marker which can store lot of information. The main goal is just to get the pose of the marker with respect to the camera as accurate as possible.

$\endgroup$
  • 1
    $\begingroup$ How do you define best? What are your criteria? What have you found and what issues do you see with them? $\endgroup$ – Shahbaz Jun 21 '17 at 19:21
  • $\begingroup$ @Shahbaz Best in terms of how accurate it is to estimate the pose of the marker $\endgroup$ – vacky Jun 21 '17 at 19:23
  • $\begingroup$ @Shahbaz I have looked into QR Codes and April tags. But I realized that there are other markers as well like Chili tags. So I want to know which of these markers is best for pose estimation $\endgroup$ – vacky Jun 21 '17 at 19:26
4
$\begingroup$

AprilTag is the state-of-the-art solution for pose estimation. The library itself already has pre-built functions to compute the marker position, given its size. The pose is estimated by homography decomposition and it's quite good if you don't go too far (2 or 3 meters for a 20cm marker). There is the C implementation made by the authors at University of Michigan (now AprilTag 2, look here) or you can go with the MIT C++ implementation of the original algorithm, here.

There are many kind of fiducial markers anyway, and it is very difficult to tell which should be the best for you. For a recent project in which I had to estimate the marker poses from a monocular camera mounted on a quadcopter I made a modified version of the AprilTag adding circles around the marker to improve pose stability. Also, I preferred to compute the pose using the Perspective-N-Point method, by using the solvePnP function included in OpenCV.

I see now this nice novelty, STag: you could also give it a try... seems promising, never used though, is really new (July 2017)

$\endgroup$
  • $\begingroup$ could you tell me more details about your tracking of an apriltag through a camera mounted on a quadrotor? $\endgroup$ – kalmanIsAGameChanger Feb 21 '18 at 10:31
  • 1
    $\begingroup$ It’s a quite broad question... there are some aspects I cannot discuss, since I signed a non disclosure agreement. If you have any specific question feel free to ask and I’ll see if and how I can give you an answer! Good luck anyway $\endgroup$ – valleymanbs Feb 22 '18 at 16:18
  • $\begingroup$ sorry for the delay. The main question for me is: what camera are you using on the drone to detect the apriltag? It would be nice if you could contact me through email. I have the link to my website in my profile. Thanks. $\endgroup$ – kalmanIsAGameChanger Mar 7 '18 at 16:24

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Not the answer you're looking for? Browse other questions tagged or ask your own question.