研究ArUco标记布局对室内定位的影响，提升机器人实时定位精度。
Investigation of ArUco Marker Placement for Planar Indoor Localization
- 分析标记数量、朝向和距离对定位效果的影响
- 实测显示标记距离越近定位误差越小，角度偏差影响显著
- 提出自适应噪声的卡尔曼滤波器，适合嵌入式实时跟踪
自主移动机器人（AMRs）的室内定位可通过特征标记实现。此类系统仅需单目摄像头作为传感器，利用可打印的被动特征标记作为位置参考，部署成本低且易于扩展。本文研究了ArUco标记框架在不同标记布置下的定位行为，包括标记数量、相对于摄像头的朝向以及相机与标记的距离。实验表明，标记距离越近，定位精度越高；标记朝向偏离时误差明显增大。此外，提出一种具有自适应测量噪声方差的简单卡尔曼滤波器，用于实现机器人实时跟踪，显著提升定位稳定性。
原文摘要 · Abstract (English)
Indoor localization of autonomous mobile robots (AMRs) can be realized with fiducial markers. Such systems require only a simple, monocular camera as sensor and fiducial markers as passive, identifiable position references that can be printed on a piece of paper and distributed in the area of interest. Thus, fiducial marker systems can be scaled to large areas with a minor increase in system complexity and cost. We investigate the localization behavior of the fiducial marker framework ArUco w.r.t. the placement of the markers including the number of markers, their orientation w.r.t. the camera, and the camera-marker distance. In addition, we propose a simple Kalman filter with adaptive measurement noise variances for real-time AMR tracking.
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