Abstract
In this study, we developed an autonomous color marker search system that uses a single pan-tilt-zoom camera to detect the 3D locations of multiple markers placed in a field. The system was designed to scan for multiple markers over a sensing range within 40 m in a field divided into 855 marker search grids. In the experiments, our system was able to robustly measure marker 3D positions within a sensing range of approximately 30 m, and with a root mean square error of less than 0.5 m, without large height differences between markers and camera, and without marker deformation, with the maximum marker search time required to scan the entire field of approximately 7 min.
