让机器人看得见的隐形标记，不破坏环境美观
Unveiling the Potential of iMarkers: Invisible Fiducial Markers for Advanced Robotics
- 设计可定制的隐形标记，仅机器人能识别
- 实测性能优于传统可见标记和混合标记
- 适合需无缝集成的智能场景，如家庭机器人
定位标记广泛应用于机器人导航、物体识别与场景理解。尽管在机器人与增强现实（AR）中具有显著优势，传统标记因对人类可见而影响环境美观，难以适用于日常场景。为此，本文提出iMarkers——一种仅由配备适当传感器与检测算法的机器人和AR设备识别的隐形定位标记。该标记支持灵活生产，可自定义可见范围与编码算法以适应不同需求。论文还介绍了配套的硬件设计与开源软件算法，验证了其在检测与识别阶段的适应性与鲁棒性。多项评估表明，iMarkers在多种机器人应用场景中均表现优异，优于传统印刷型与混合型标记。
原文摘要 · Abstract (English)
Fiducial markers are widely used in robotics for navigation, object recognition, and scene understanding. While offering significant advantages for robots and Augmented Reality (AR) applications, they often disrupt the visual aesthetics of environments, as they are visible to humans, making them unsuitable for many everyday use cases. To address this gap, this paper presents iMarkers, innovative, unobtrusive fiducial markers detectable exclusively by robots and AR devices equipped with adequate sensors and detection algorithms. These markers offer high flexibility in production, allowing customization of their visibility range and encoding algorithms to suit various demands. The paper also introduces the hardware designs and open-sourced software algorithms developed for detecting iMarkers, highlighting their adaptability and robustness in the detection and recognition stages. Numerous evaluations have demonstrated the effectiveness of iMarkers relative to conventional (printed) and blended fiducial markers and have confirmed their applicability across diverse robotics scenarios.
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