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]

Performance Analysis of Low-Cost Tracking System for Mobile Robots

Botta, Andrea;Quaglia, Giuseppe
2020

Abstract

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.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2831932