This paper proposes a reliable and straightforward approach to mobile robots (or moving objects in general) indoor tracking, in order to perform a preliminary study on their dynamics. The main features of this approach are its minimal and low-cost setup and a user-friendly interpretation of the data generated by the ArUco library. By using a commonly available camera, such as a smartphone one or a webcam, and at least one marker for each object that has to be tracked, it is possible to estimate the pose of these markers, with respect to a reference conveniently placed in the environment, in order to produce results that are easily interpretable by a user. This paper presents a simple extension to the ArUco library to generate such user-friendly data, and it provides a performance analysis of this application with static and moving objects, using a smartphone camera to highlight the most notable feature of this solution, but also its limitations.
Performance Analysis of Low-Cost Tracking System for Mobile Robots / Botta, Andrea; Quaglia, Giuseppe. - In: MACHINES. - ISSN 2075-1702. - ELETTRONICO. - 8:2(2020), p. 29. [10.3390/machines8020029]
|Titolo:||Performance Analysis of Low-Cost Tracking System for Mobile Robots|
|Data di pubblicazione:||2020|
|Digital Object Identifier (DOI):||http://dx.doi.org/10.3390/machines8020029|
|Appare nelle tipologie:||1.1 Articolo in rivista|