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The base of the localization system is an efficient circular target (ring or roundel) detector. This efficiency allows for detection of hundred of targets above camera frame-rate. The targets can be easily printed on a B&W printer. A single target allows for obtaining 5DoF (3D position + 2 angles). When constrained on planar (ground) motions, the precision can be further improved.
For more in-depth description of the algorithm, please look at the following publications:
“A Practical Multirobot Localization System” , T. Krajník, M. Nitsche, J. Faigl, P. Vaněk, M. Saska, L. Přeučil, T. Duckett, and M. Mejail, ,” Journal of Intelligent & Robotic Systems, 2014.
“External localization system for mobile robotics” , T. Krajnik, M. Nitsche, J. Faigl, T. Duckett, M. Mejail, and L. Preucil, ,” in Advanced Robotics (ICAR), 2013 16th International Conference on, 2013
If you are interested on how this the algorithms are implemented, continue here. Note that several improvements were made with respect to the previously published version.
A description of the ROS nodes can be found here
See a step-by-step tutorial here.