Low-cost Robot Motion Capture System Based on ArUco Markers

Rawin ASSABUMRUNGRAT; Ranulfo BEZERRA; Iuri BARROS; Shotaro KOJIMA; Yoshito OKADA; Masashi KONYO; Kazunori OHNO; Satoshi TADOKORO

doi:10.1299/jsmermd.2023.2P1-G24

2023

セッションID: 2P1-G24

DOI https://doi.org/10.1299/jsmermd.2023.2P1-G24

会議情報

主催: The Japan Society of Mechanical Engineers

会議名: ロボティクス・メカトロニクス　講演会2023

開催日: 2023/06/28 - 2023/07/01

Low-cost Robot Motion Capture System Based on ArUco Markers

*Rawin ASSABUMRUNGRAT, Ranulfo BEZERRA, Iuri BARROS, Shotaro KOJIMA, Yoshito OKADA, Masashi KONYO, Kazunori OHNO, Satoshi TADOKORO

著者情報

キーワード: Robotics, Position-tracking system, Internet of Robotic Things, Wireless tracking, ArUco markers

会議録・要旨集認証あり

詳細

抄録

A wireless and portable robot position-tracking system is developed based on ArUco markers and a team of cameras, which connect to a remote PC in the same Wi-Fi network. The system is configured to locate two robots running on a 3m× 3m area using different numbers of HDR cameras. The Root Mean Square Error (RMSE) and Detection Ratio are analyzed to evaluate the system’s accuracy and robustness. The results indicate the best detection precision of 0.1345 m obtained using ten cameras and an extended Kalman filter. This research provides a novel and economical solution to building a wireless and portable robot position-tracking system for various potential applications.

責任著者(Corresponding author)

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