Hierarchical fiducial marker design for pose estimation in large‐scale scenarios. Issue 6 (7th March 2018)

• Record Type: Journal Article
• Authors: Wang, Hao; Shi, Zongying; Lu, Geng; Zhong, Yisheng
• Is Part Of: Journal of field robotics. Volume 35:Issue 6(2018)
• Page Start: 835
• Page End: 849
• Publication Date: 2018-03-07
• Subjects: aerial robotics -- position estimation; Robots, Industrial -- Periodicals; Automatic control -- Periodicals; 629.892
• DOI: 10.1002/rob.21780
• Languages: English
• ISSNs: 1556-4959

Abstract

Abstract: In this paper, a hierarchical fiducial marker, called HArCo, is designed to guarantee a smooth pose estimation for large‐scale applications. HArCo markers have a visually identifiable structure on multiple scales, so they can be used for consistent pose estimation across a range of altitudes. Experimental results are presented to validate the performance of the proposed methodologies; oscillating platform landing experiments were conducted to show the ability of HArCo to be used in real landing tasks on the deck of a ship.