WhyCon: an efficient, marker-based localization system

Nitsche, Matias, Krajnik, Tomas, Cizek, Petr , Mejail, Marta and Duckett, Tom (2015) WhyCon: an efficient, marker-based localization system. In: IROS Workshop on Aerial Open-source Robotics, 28 September 2015, Hamburg.

Full content URL: https://github.com/gestom/whycon-orig/

2015_irososar_whycon.pdf - Whole Document

Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive


We present an open-source marker-based localization system intended as a low-cost easy-to-deploy solution for aerial and swarm robotics. The main advantage of the presented method is its high computational efficiency, which allows its deployment on small robots with limited computational resources. Even on low-end computers, the core component of the system can detect and estimate 3D positions of hundreds of black and white markers at the maximum frame-rate of standard cameras. The method is robust to changing lighting conditions and achieves accuracy in the order of millimeters to centimeters. Due to its reliability, simplicity of use and availability as an open-source ROS module (http://purl.org/robotics/whycon), the system is now used in a number of aerial robotics projects where fast and precise relative localization is required.

Keywords:mobile robotics, JCOpen
Subjects:H Engineering > H670 Robotics and Cybernetics
G Mathematical and Computer Sciences > G740 Computer Vision
Divisions:College of Science > School of Computer Science
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ID Code:18877
Deposited On:28 Sep 2015 19:31

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