Abstract
Fiducial markers are used in vision systems to determine the position of objects in space, reconstruct movement and create augmented reality. Despite the abundance of work on analysis of the accuracy of the estimation of the fiducial markers spatial position, this question remains open. In this paper, we propose the computer modeling of images with ArUco markers for this purpose. The paper presents a modeling algorithm, which was implemented in the form of software based on the OpenCV library. Algorithm is based on projection of three-dimensional points of the marker corners into two-dimensional points using the camera parameters and rendering the marker image in the new two-dimensional coordinates on the modeled image with the use of the perspective transformation obtained from these points. A number of dependencies were obtained by which it is possible to evaluate the error in determining the position depending on markers size. Including the probability of detecting a marker depending on its area on an image.
Highlights
Fiducial markers are used in vision systems to determine the position of objects in space, reconstruct movement and create augmented reality
The paper presents an approach to computer modeling of images with fiducial markers based on the use of the OpenCV library
It simplifies the writing of modeling software, since it does not require the use of graphic engines, which may require studying the principles of their work and API for its integration
Summary
A number of papers have been devoted to analysis of the accuracy of the estimation of the fiducial markers spatial position. In [6], one of the earliest and most comprehensive works, several types of markers were compared They are considered from the point of view of the application for augmented reality, since an application for determining the position in space for robotic systems has not yet been widely developed. The paper presents a large number of obtained dependencies They were obtained for specific parameters preassigned in the modeling, and cannot be used in practice. This work is devoted to computer modeling of images with ArUco markers with the ability to preassigned their position both in distance and in rotation angles in space
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