Skip to content

ArUco Marker Basics

Jump to bottom
Chenhao Wu edited this page Jun 29, 2021 · 2 revisions

In this project, we employ ArUco markers to achieve Simultaneous Localization and Mapping (SLAM) of the road and detected road blocks. The related functionalities are implemented in the RBDetection module.

The goal of RBDetection module is:

  • Detect the ArUco markers placed on the top of roadblocks;
  • Obtain the world coordinates of the detected ArUco markers (the world coordinates are with respect to the location of reference markers);
  • Calculate the GPS Coordinates of the detected ArUco markers

Finally, with the GPS coordinates of roadblocks obtained in the last step, the edge system could tell the autonomous car where the roadblocks are and so that the autonomous car could plan its route to dodge from these blocks.

The following text will guide you to understand how our system achieves this goal by using the ArUco Markers.

0. Basic Understanding of the Camera-World Model

1. Action before the actual run: Camera Calibration

2. Detect the ArUco markers in the video stream

3. Marker Mapper

Clone this wiki locally