A Comparison of Fiducial Markers Pose Estimation for UAVs Indoor Precision Landing

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A Comparison of Fiducial Markers Pose Estimation for UAVs Indoor Precision Landing

Junior, Luciano Bonzatto / Berger, Guido S. / Júnior, Alexandre O. / Braun, João / Wehrmeister, Marco A. / Pinto, Milena F. / Lima, José

Abstract

Cooperative robotics is exponentially gaining strength in scientific research, especially regarding the cooperation between ground mobile robots and Unmanned Aerial Vehicles (UAVs), where the remaining challenges are equipollent to its potential uses in different fields, such as agriculture and electrical tower inspections. Due to the complexity involved in the process, precision landing by UAVs on moving robotic platforms for tasks such as battery hot-swapping is a major open research question. This work explores the feasibility and accuracy of different fiducial markers to aid in the precision landing process by a UAV on a mobile robotic platform. For this purpose, a Tello UAV was used to acquire images at different positions, angles, and distances from ArUco, ARTag, and ArUco Board markers to evaluate their detection precision. The analyses demonstrate the highest reliability in the measurements performed through the ArUco marker. Future work will be devoted to using the ArUco marker to perform precision landing on a mobile robotic platform, considering the necessary adjustments to lessen the impact of errors intrinsic to detecting the fiducial marker during the landing procedure.

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Dokumentinformationen

Titel :

A Comparison of Fiducial Markers Pose Estimation for UAVs Indoor Precision Landing

Weitere Titelangaben:

Communic.Comp.Inf.Science

Beteiligte:

Pereira, Ana I. (Herausgeber:in) / Mendes, Armando (Herausgeber:in) / Fernandes, Florbela P. (Herausgeber:in) / Pacheco, Maria F. (Herausgeber:in) / Coelho, João P. (Herausgeber:in) / Lima, José (Herausgeber:in) / Junior, Luciano Bonzatto (Autor:in) / Berger, Guido S. (Autor:in) / Júnior, Alexandre O. (Autor:in) / Braun, João (Autor:in)

Kongress:

International Conference on Optimization, Learning Algorithms and Applications ; 2023 ; Ponta Delgada, Portugal September 27, 2023 - September 29, 2023

Erschienen in:

Optimization, Learning Algorithms and Applications ; Kapitel : 2 ; 18-33

Communications in Computer and Information Science ; 1981

Erscheinungsdatum :

2024-02-01

Format / Umfang :

16 pages

ISBN :

978-3-031-53025-8 , 978-3-031-53024-1

ISSN :

1865-0937 , 1865-0929

DOI :