Publicação
A Comparison of Fiducial Markers Pose Estimation for UAVs Indoor Precision Landing
| Resumo: | 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 onmoving 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 TelloUAVwas 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. |
|---|---|
| Autores principais: | Junior, Luciano Bonzatto |
| Outros Autores: | Berger, Guido; Oliveira Júnior, Alexandre de; Braun, João; Wehrmeister, Marco A.; Pinto, Milena F.; Lima, José |
| Assunto: | Unmanned aerial vehicles Position tracking Fiducial marker |
| Ano: | 2024 |
| País: | Portugal |
| Tipo de documento: | comunicação em conferência |
| Tipo de acesso: | acesso restrito |
| Instituição associada: | Instituto Politécnico de Bragança |
| Idioma: | inglês |
| Origem: | Biblioteca Digital do IPB |
| _version_ | 1863851433726574592 |
|---|---|
| author | Junior, Luciano Bonzatto |
| author2 | Berger, Guido Oliveira Júnior, Alexandre de Braun, João Wehrmeister, Marco A. Pinto, Milena F. Lima, José |
| author2_role | author author author author author author |
| author_facet | Junior, Luciano Bonzatto Berger, Guido Oliveira Júnior, Alexandre de Braun, João Wehrmeister, Marco A. Pinto, Milena F. Lima, José |
| author_role | author |
| contributor_name_str_mv | Biblioteca Digital do IPB |
| country_str | PT |
| creators_json_str | [{\"Person.name\":\"Junior, Luciano Bonzatto\"},{\"Person.name\":\"Berger, Guido\",\"Person.identifier.orcid\":\"0000-0002-4100-1494\"},{\"Person.name\":\"Oliveira Júnior, Alexandre de\",\"Person.identifier.orcid\":\"0000-0002-7009-3965\"},{\"Person.name\":\"Braun, João\",\"Person.identifier.orcid\":\"0000-0003-0276-4314\"},{\"Person.name\":\"Wehrmeister, Marco A.\"},{\"Person.name\":\"Pinto, Milena F.\"},{\"Person.name\":\"Lima, José\",\"Person.identifier.orcid\":\"0000-0001-7902-1207\"}] |
| datacite.contributors.contributor.contributorName.fl_str_mv | Biblioteca Digital do IPB |
| datacite.creators.creator.creatorName.fl_str_mv | Junior, Luciano Bonzatto Berger, Guido Oliveira Júnior, Alexandre de Braun, João Wehrmeister, Marco A. Pinto, Milena F. Lima, José |
| datacite.date.Accepted.fl_str_mv | 2024-01-01T00:00:00Z |
| datacite.date.available.fl_str_mv | 2024-10-08T09:31:20Z |
| datacite.date.embargoed.fl_str_mv | 2024-10-08T09:31:20Z |
| datacite.rights.fl_str_mv | http://purl.org/coar/access_right/c_16ec |
| datacite.subjects.subject.fl_str_mv | Unmanned aerial vehicles Position tracking Fiducial marker |
| datacite.titles.title.fl_str_mv | A Comparison of Fiducial Markers Pose Estimation for UAVs Indoor Precision Landing |
| dc.contributor.none.fl_str_mv | Biblioteca Digital do IPB |
| dc.creator.none.fl_str_mv | Junior, Luciano Bonzatto Berger, Guido Oliveira Júnior, Alexandre de Braun, João Wehrmeister, Marco A. Pinto, Milena F. Lima, José |
| dc.date.Accepted.fl_str_mv | 2024-01-01T00:00:00Z |
| dc.date.available.fl_str_mv | 2024-10-08T09:31:20Z |
| dc.date.embargoed.fl_str_mv | 2024-10-08T09:31:20Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | http://hdl.handle.net/10198/30347 |
| dc.language.none.fl_str_mv | eng |
| dc.publisher.none.fl_str_mv | Springer Nature |
| dc.rights.cclincense.fl_str_mv | http://creativecommons.org/licenses/by/4.0/ |
| dc.rights.none.fl_str_mv | http://purl.org/coar/access_right/c_16ec |
| dc.subject.none.fl_str_mv | Unmanned aerial vehicles Position tracking Fiducial marker |
| dc.title.fl_str_mv | A Comparison of Fiducial Markers Pose Estimation for UAVs Indoor Precision Landing |
| dc.type.none.fl_str_mv | http://purl.org/coar/resource_type/c_5794 |
| description | 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 onmoving 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 TelloUAVwas 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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| eu_rights_str_mv | restrictedAccess |
| format | conferencePaper |
| fulltext.url.fl_str_mv | https://bibliotecadigital.ipb.pt/bitstreams/d394c15f-7b7e-4729-aadd-310c2a82a2c5/download |
| funding.funder.alternateName_str_mv | FCT FCT FCT |
| funding.funder.identifier_str_mv | http://doi.org/10.13039/501100001871 http://doi.org/10.13039/501100001871 http://doi.org/10.13039/501100001871 |
| funding.funder.name_str_mv | Fundação para a Ciência e a Tecnologia Fundação para a Ciência e a Tecnologia Fundação para a Ciência e a Tecnologia |
| funding.name_str_mv | 6817 - DCRRNI ID 6817 - DCRRNI ID 6817 - DCRRNI ID |
| id | ipb_ece0641f4a6f256e202df7fa384af5ea |
| identifier.url.fl_str_mv | http://hdl.handle.net/10198/30347 |
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| institution | Instituto Politécnico de Bragança |
| instname_str | Instituto Politécnico de Bragança |
| language | eng |
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| network_name_str | Biblioteca Digital do IPB |
| oai_identifier_str | oai:bibliotecadigital.ipb.pt:10198/30347 |
| organization_str_mv | urn:organizationAcronym:ipb |
| person_str_mv | Junior, Luciano Bonzatto Berger, Guido Berger, Guido https://www.ciencia-id.pt/931A-887B-D75D 931A-887B-D75D http://orcid.org/0000-0002-4100-1494 0000-0002-4100-1494 Oliveira Júnior, Alexandre de Oliveira Júnior, Alexandre de https://www.ciencia-id.pt/7311-463F-3FA3 7311-463F-3FA3 http://orcid.org/0000-0002-7009-3965 0000-0002-7009-3965 Braun, João Braun, João https://www.ciencia-id.pt/BF13-D66B-7D08 BF13-D66B-7D08 http://orcid.org/0000-0003-0276-4314 0000-0003-0276-4314 Wehrmeister, Marco A. Pinto, Milena F. Lima, José Lima, José https://www.ciencia-id.pt/6016-C902-86A9 6016-C902-86A9 http://orcid.org/0000-0001-7902-1207 0000-0001-7902-1207 |
| publishDate | 2024 |
| publisher.none.fl_str_mv | Springer Nature |
| reponame_str | Biblioteca Digital do IPB |
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| spelling | engSpringer Naturept_PTCooperative 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 onmoving 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 TelloUAVwas 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.application/pdfpt_PTA Comparison of Fiducial Markers Pose Estimation for UAVs Indoor Precision LandingJunior, Luciano BonzattoPersonalBerger, GuidoDSpacehttp://dspace.org/items/af502b94-c812-4efb-abb5-4d61a678a06bDSpacehttp://dspace.org/items/af502b94-c812-4efb-abb5-4d61a678a06bBergerGuido S.Ciência IDhttps://www.ciencia-id.pt931A-887B-D75DORCIDhttp://orcid.org0000-0002-4100-1494PersonalOliveira Júnior, Alexandre deDSpacehttp://dspace.org/items/ff0045fd-7bb6-47aa-b897-08db712bb347DSpacehttp://dspace.org/items/ff0045fd-7bb6-47aa-b897-08db712bb347Oliveira JúniorAlexandre deCiência IDhttps://www.ciencia-id.pt7311-463F-3FA3ORCIDhttp://orcid.org0000-0002-7009-3965Scopus Author IDhttps://www.scopus.com57426745400PersonalBraun, JoãoDSpacehttp://dspace.org/items/b8dfcbd7-1b89-48f3-afee-3e7d3f3c90d4DSpacehttp://dspace.org/items/b8dfcbd7-1b89-48f3-afee-3e7d3f3c90d4BraunJoão A.Ciência IDhttps://www.ciencia-id.ptBF13-D66B-7D08ORCIDhttp://orcid.org0000-0003-0276-4314Scopus Author IDhttps://www.scopus.com57211244317Wehrmeister, Marco A.Pinto, Milena F.PersonalLima, JoséDSpacehttp://dspace.org/items/d88c2b2a-efc2-48ef-b1fd-1145475e0055DSpacehttp://dspace.org/items/d88c2b2a-efc2-48ef-b1fd-1145475e0055LimaJoséCiência IDhttps://www.ciencia-id.pt6016-C902-86A9ORCIDhttp://orcid.org0000-0001-7902-1207Researcher IDhttps://www.researcherid.comL-3370-2014Scopus Author IDhttps://www.scopus.com55851941311HostingInstitutionOrganizationalBiblioteca Digital do IPBe-mailmailto:dspace@ipb.ptdspace@ipb.ptISBNIsPartOf978-3-031-53024-1ISBNIsPartOf978-3-031-53025-8DOIIsPartOf10.1007/978-3-031-53025-8_22024-10-08T09:31:20Z20242024-01-01T00:00:00ZHandlehttp://hdl.handle.net/10198/30347http://purl.org/coar/access_right/c_16ecrestricted accessUnmanned aerial vehiclesPosition trackingFiducial marker9547909 bytesFundação para a Ciência e a TecnologiaResearch Centre in Digitalization and Intelligent Robotics6817 - DCRRNI IDCrossref Funder IDhttp://doi.org/10.13039/501100001871Fundação para a Ciência e a TecnologiaResearch Centre in Digitalization and Intelligent Robotics6817 - DCRRNI IDCrossref Funder IDhttp://doi.org/10.13039/501100001871Fundação para a Ciência e a TecnologiaAssociate Laboratory for Sustainability and Tecnology in Mountain Regions6817 - DCRRNI IDCrossref Funder IDhttp://doi.org/10.13039/501100001871other research producthttp://purl.org/coar/resource_type/c_5794conference paper2024http://creativecommons.org/licenses/by/4.0/http://purl.org/coar/access_right/c_16ecapplication/pdffulltexthttps://bibliotecadigital.ipb.pt/bitstreams/d394c15f-7b7e-4729-aadd-310c2a82a2c5/download3rd International Conference on Optimization, Learning Algorithms and Applications (OL2A 2023)1833 |
| spellingShingle | A Comparison of Fiducial Markers Pose Estimation for UAVs Indoor Precision Landing Junior, Luciano Bonzatto Unmanned aerial vehicles Position tracking Fiducial marker |
| subject.fl_str_mv | Unmanned aerial vehicles Position tracking Fiducial marker |
| title | A Comparison of Fiducial Markers Pose Estimation for UAVs Indoor Precision Landing |
| title_full | A Comparison of Fiducial Markers Pose Estimation for UAVs Indoor Precision Landing |
| title_fullStr | A Comparison of Fiducial Markers Pose Estimation for UAVs Indoor Precision Landing |
| title_full_unstemmed | A Comparison of Fiducial Markers Pose Estimation for UAVs Indoor Precision Landing |
| title_short | A Comparison of Fiducial Markers Pose Estimation for UAVs Indoor Precision Landing |
| title_sort | A Comparison of Fiducial Markers Pose Estimation for UAVs Indoor Precision Landing |
| topic | Unmanned aerial vehicles Position tracking Fiducial marker |
| topic_facet | Unmanned aerial vehicles Position tracking Fiducial marker |
| url | http://hdl.handle.net/10198/30347 |
| visible | 1 |