高精度マーカLeagTagを用いた自律移動ロボットの精密ナビゲーション

―ロボットフレンドリー環境構築のための強力なツール―

抄録

To promote the utilization of service robots, it is essential to establish a robot-friendly environment. Fiducial markers serve as one of the tools to assist in localization. We have developed high-accuracy fiducial markers with over ten times the measurement accuracy of conventional 2D fiducial markers. In this paper, we describe the structure, measurement principles, and performance of this high-accuracy marker called LeagTag. Additionally, we present examples of its application in precise navigation tasks such as elevator door passage with an autonomous mobile robot, demonstrating its utility as a tool for creating robot-friendly environments.