TY - GEN
T1 - HueCode
T2 - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
AU - Okada, Yoshito
AU - Fujikura, Daiki
AU - Ozawa, Yu
AU - Tadakuma, Kenjiro
AU - Ohno, Kazunori
AU - Tadokoro, Satoshi
N1 - Funding Information:
This research was conducted under the contract "R&D for the realization of high-precision radio wave emulator in cyberspace" (JPJ000254), made with the Ministry of Internal Affairs and Communications of Japan.
Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - In this paper, HueCode, a meta-marker that robustly and simultaneously exposes the relative pose between a marker and a camera along with additional information, is proposed. It occupies the area of a single marker by overlaying multiple types of markers in different colored layers. Using perspective information from the first (most recognizable) type of element marker, the second or higher marker can be recognized with a better success rate. An experiment using a HueCode made from an ArUco marker and a QR code showed that the QR code within the HueCode is recognizable at an elevation angle of up to 15°, compared to 25° for a normal QR code. In addition, the versatility of HueCode is demonstrated using two robotic applications. The first is a lightweight estimation of absolute 6-DoF poses for mobile robots in a GNSS-denied environment, and the other is object annotation in two-dimensional image or three-dimensional space without any prior knowledge. The former realized pose estimation with a position error of less than 0.05 m, and the latter enabled annotation of a mirror and a transparent object, which are difficult for other sensors and machine learning to recognize.
AB - In this paper, HueCode, a meta-marker that robustly and simultaneously exposes the relative pose between a marker and a camera along with additional information, is proposed. It occupies the area of a single marker by overlaying multiple types of markers in different colored layers. Using perspective information from the first (most recognizable) type of element marker, the second or higher marker can be recognized with a better success rate. An experiment using a HueCode made from an ArUco marker and a QR code showed that the QR code within the HueCode is recognizable at an elevation angle of up to 15°, compared to 25° for a normal QR code. In addition, the versatility of HueCode is demonstrated using two robotic applications. The first is a lightweight estimation of absolute 6-DoF poses for mobile robots in a GNSS-denied environment, and the other is object annotation in two-dimensional image or three-dimensional space without any prior knowledge. The former realized pose estimation with a position error of less than 0.05 m, and the latter enabled annotation of a mirror and a transparent object, which are difficult for other sensors and machine learning to recognize.
UR - http://www.scopus.com/inward/record.url?scp=85125455517&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85125455517&partnerID=8YFLogxK
U2 - 10.1109/ICRA48506.2021.9561783
DO - 10.1109/ICRA48506.2021.9561783
M3 - Conference contribution
AN - SCOPUS:85125455517
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 11470
EP - 11476
BT - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 30 May 2021 through 5 June 2021
ER -