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Kabsch marker estimation algorithm - a multi-robot marker-based localization algorithm within the industry 4.0 context

2024Journal article Open access
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dc.contributor.authorBraun, João
dc.contributor.authorLima, José
dc.contributor.authorPereira, Ana I.
dc.contributor.authorCosta, Paulo Gomes da
dc.date.accessioned2024-06-11T10:33:54Z
dc.date.available2024-06-11T10:33:54Z
dc.date.issued2024
dc.description.abstractThis paper introduces the Kabsch Marker Estimation Algorithm (KMEA), a new, robust multi-marker localization method designed for Autonomous Mobile Robots (AMRs) within Industry 4.0 (I4.0) settings. By integrating the Kabsch Algorithm, our approach significantly enhances localization robustness by aligning detected fiducial markers with their known positions. Unlike conventional methods that rely on a limited subset of visible markers, the KMEA uses all available markers, without requiring the camera's extrinsic parameters, thereby improving robustness. The algorithm was validated in an I4.0 automated warehouse mockup, with a four-stage methodology compared to a previously established marker estimation algorithm for reference. On the one hand, the results have demonstrated the KMEA's similar performance in standard controlled scenarios, with millimetric precision across a set of error metrics and a mean relative error (MRE) of less than 1%. On the other hand, KMEA, when faced with challenging test scenarios with outliers, showed significantly superior performance compared to the baseline algorithm, where it maintained a millimetric to centimetric scale in error metrics, whereas the other suffered extreme degradation. This was emphasized by the average reduced results of error metrics from 86.9% to 92% in Parts III and IV of the test methodology, respectively. These results were achieved using low-cost hardware, indicating the possibility of even greater accuracy with advanced equipment. The paper details the algorithm's development, theoretical framework, comparative advantages over existing methods, discusses the test results, and concludes with comments regarding its potential for industrial and commercial applications by its scalability and reliability.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationBraun, João; Lima, José; Pereira, Ana I.; Costa, Paulo (2024). Kabsch marker estimation algorithm - a multi-robot marker-based localization algorithm within the industry 4.0 context. IEEE Access. ISSN 2169-3536. 12, p. 68711- 68729pt_PT
dc.identifier.doi10.1109/ACCESS.2024.3400919pt_PT
dc.identifier.issn2169-3536
dc.identifier.urihttp://hdl.handle.net/10198/29877
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherIEEEpt_PT
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/pt_PT
dc.subjectLocation awarenesspt_PT
dc.subjectRobotspt_PT
dc.subjectFiducial markerspt_PT
dc.subjectFloorspt_PT
dc.subjectVisualizationpt_PT
dc.subjectRobustnesspt_PT
dc.subjectWarehousingpt_PT
dc.subjectAutomationpt_PT
dc.subjectMobile robotspt_PT
dc.subjectIndoor environmentpt_PT
dc.subjectFourth Industrial Revolutionpt_PT
dc.subjectArUco markerspt_PT
dc.subjectAutomated warehousept_PT
dc.subjectAutonomous mobile robotspt_PT
dc.subjectFiducial markerspt_PT
dc.subjectGround truth systempt_PT
dc.subjectindustry 4.0pt_PT
dc.subjectIndoor localizationpt_PT
dc.titleKabsch marker estimation algorithm - a multi-robot marker-based localization algorithm within the industry 4.0 contextpt_PT
dc.typejournal article
dspace.entity.typePublication
oaire.citation.endPage68729pt_PT
oaire.citation.startPage68711pt_PT
oaire.citation.titleIEEE Accesspt_PT
oaire.citation.volume12pt_PT
person.familyNameBraun
person.familyNameLima
person.familyNamePereira
person.givenNameJoão A.
person.givenNameJosé
person.givenNameAna I.
person.identifierR-000-8GD
person.identifier.ciencia-idBF13-D66B-7D08
person.identifier.ciencia-id6016-C902-86A9
person.identifier.ciencia-id0716-B7C2-93E4
person.identifier.orcid0000-0003-0276-4314
person.identifier.orcid0000-0001-7902-1207
person.identifier.orcid0000-0003-3803-2043
person.identifier.ridL-3370-2014
person.identifier.ridF-3168-2010
person.identifier.scopus-author-id57211244317
person.identifier.scopus-author-id55851941311
person.identifier.scopus-author-id15071961600
rcaap.rightsopenAccesspt_PT
rcaap.typearticlept_PT
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relation.isAuthorOfPublicationd88c2b2a-efc2-48ef-b1fd-1145475e0055
relation.isAuthorOfPublicatione9981d62-2a2b-4fef-b75e-c2a14b0e7846
relation.isAuthorOfPublication.latestForDiscoverye9981d62-2a2b-4fef-b75e-c2a14b0e7846

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