ArUcoRSV

Robot localisation using artificial marker

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Robot Soccer (RS) vision system is designed for robot soccer competition. Most RS system implemented colour patches as main marker detector for robot localisation and ball detection. It requires complicated procedures for colour and camera calibration and highly affected by light to run smoothly while it suffers parallax issue. This paper aims to improvise the procedures and performance by minimising the calibration process for robot localisation and produces accurate marker detection for robot identification. ArUcoRSV utilises marker detection using ArUco patches to solve light limitation and able to perform camera calibration processes quick and reliable. It applies an automated perspective using marker detection, refining rejected marker and pose estimation. Experimental results for robot calibration and localisation using ArUcoRSV achieved significant improvements in detection rate with high positional accuracy. This system is expandable and robust to deal with various types of robots including low cost robots.

Original languageEnglish
Title of host publicationRobot Intelligence Technology and Applications - 6th International Conference, RiTA 2018, Revised Selected Papers
EditorsJong-Hwan Kim, Hyung Myung, Seung-Mok Lee
PublisherSpringer Verlag
Pages189-198
Number of pages10
ISBN (Print)9789811377792
DOIs
Publication statusPublished - 1 Jan 2019
Event6th International Conference on Robot Intelligence Technology and Applications, RiTA 2018 - Kuala Lumpur, Malaysia
Duration: 16 Dec 201818 Dec 2018

Publication series

NameCommunications in Computer and Information Science
Volume1015
ISSN (Print)1865-0929

Conference

Conference6th International Conference on Robot Intelligence Technology and Applications, RiTA 2018
CountryMalaysia
CityKuala Lumpur
Period16/12/1818/12/18

Fingerprint

Robot
Robots
Calibration
Camera Calibration
Patch
Cameras
Robot Vision
Color
Pose Estimation
Vision System
Computer vision
Refining
Ball
Detector
Detectors
Experimental Results
Costs

ASJC Scopus subject areas

  • Computer Science(all)
  • Mathematics(all)

Cite this

Azmi, I., Shafei, M. S., Nasrudin, M. F., Sani, N. S., & Abd Rahman , A. H. (2019). ArUcoRSV: Robot localisation using artificial marker. In J-H. Kim, H. Myung, & S-M. Lee (Eds.), Robot Intelligence Technology and Applications - 6th International Conference, RiTA 2018, Revised Selected Papers (pp. 189-198). (Communications in Computer and Information Science; Vol. 1015). Springer Verlag. https://doi.org/10.1007/978-981-13-7780-8_15

ArUcoRSV : Robot localisation using artificial marker. / Azmi, Izwan; Shafei, Mohamad Syazwan; Nasrudin, Mohammad Faidzul; Sani, Nor Samsiah; Abd Rahman , Abdul Hadi.

Robot Intelligence Technology and Applications - 6th International Conference, RiTA 2018, Revised Selected Papers. ed. / Jong-Hwan Kim; Hyung Myung; Seung-Mok Lee. Springer Verlag, 2019. p. 189-198 (Communications in Computer and Information Science; Vol. 1015).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Azmi, I, Shafei, MS, Nasrudin, MF, Sani, NS & Abd Rahman , AH 2019, ArUcoRSV: Robot localisation using artificial marker. in J-H Kim, H Myung & S-M Lee (eds), Robot Intelligence Technology and Applications - 6th International Conference, RiTA 2018, Revised Selected Papers. Communications in Computer and Information Science, vol. 1015, Springer Verlag, pp. 189-198, 6th International Conference on Robot Intelligence Technology and Applications, RiTA 2018, Kuala Lumpur, Malaysia, 16/12/18. https://doi.org/10.1007/978-981-13-7780-8_15
Azmi I, Shafei MS, Nasrudin MF, Sani NS, Abd Rahman  AH. ArUcoRSV: Robot localisation using artificial marker. In Kim J-H, Myung H, Lee S-M, editors, Robot Intelligence Technology and Applications - 6th International Conference, RiTA 2018, Revised Selected Papers. Springer Verlag. 2019. p. 189-198. (Communications in Computer and Information Science). https://doi.org/10.1007/978-981-13-7780-8_15
Azmi, Izwan ; Shafei, Mohamad Syazwan ; Nasrudin, Mohammad Faidzul ; Sani, Nor Samsiah ; Abd Rahman , Abdul Hadi. / ArUcoRSV : Robot localisation using artificial marker. Robot Intelligence Technology and Applications - 6th International Conference, RiTA 2018, Revised Selected Papers. editor / Jong-Hwan Kim ; Hyung Myung ; Seung-Mok Lee. Springer Verlag, 2019. pp. 189-198 (Communications in Computer and Information Science).
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