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A Comparison of Fiducial Markers Pose Estimation for UAVs Indoor Precision Landing

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dc.contributor.authorJunior, Luciano Bonzatto
dc.contributor.authorBerger, Guido
dc.contributor.authorOliveira Júnior, Alexandre de
dc.contributor.authorBraun, João
dc.contributor.authorWehrmeister, Marco A.
dc.contributor.authorPinto, Milena F.
dc.contributor.authorLima, José
dc.date.accessioned2024-10-08T09:31:20Z
dc.date.available2024-10-08T09:31:20Z
dc.date.issued2024
dc.description.abstractCooperative robotics is exponentially gaining strength in scientific research, especially regarding the cooperation between ground mobile robots and Unmanned Aerial Vehicles (UAVs), where the remaining challenges are equipollent to its potential uses in different fields, such as agriculture and electrical tower inspections. Due to the complexity involved in the process, precision landing by UAVs onmoving robotic platforms for tasks such as battery hot-swapping is a major open research question. This work explores the feasibility and accuracy of different fiducial markers to aid in the precision landing process by a UAV on a mobile robotic platform. For this purpose, a TelloUAVwas used to acquire images at different positions, angles, and distances from ArUco, ARTag, and ArUco Board markers to evaluate their detection precision. The analyses demonstrate the highest reliability in the measurements performed through the ArUco marker. Future work will be devoted to using the ArUco marker to perform precision landing on a mobile robotic platform, considering the necessary adjustments to lessen the impact of errors intrinsic to detecting the fiducial marker during the landing procedure.pt_PT
dc.description.sponsorshipThe authors are grateful to the Foundation for Science and Technology (FCT, Portugal) for financial support through national funds FCTMCTES (PIDDAC) to CeDRI (UIDB/05757/2020 and UIDP/05757/2020), SusTEC (LA/P/ 0007/2021), Oleachain “Skills for sustainability and innovation in the value chain of traditional olive groves in the Northern Interior of Portugal” (Norte06-3559-FSE-000188), Centro Federal de Educação Tecnológica Celso Suckow da Fonseca (CEFETRJ), Fundação de Amparo à Pesquisa do Estado do Rio de Janeiro (FAPERJ), and Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES). The project that gave rise to these results received the support of a fellowship from “la Caixa” Foundation (ID 100010434). The fellowship code is LCF/BQ/DI20/11780028.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationJunior, Luciano Bonzatto; Berger, Guido S.; Júnior, Alexandre O.; Braun, João; Wehrmeister, Marco A.; Pinto, Milena F.; Lima, José (2024). A Comparison of Fiducial Markers Pose Estimation for UAVs Indoor Precision Landing. In 3rd International Conference on Optimization, Learning Algorithms and Applications (OL2A 2023). Cham: Springer Nature, Vol. 1, p. 18–33. ISBN 978-3-031-53024-1pt_PT
dc.identifier.doi10.1007/978-3-031-53025-8_2pt_PT
dc.identifier.isbn978-3-031-53024-1
dc.identifier.isbn978-3-031-53025-8
dc.identifier.urihttp://hdl.handle.net/10198/30347
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherSpringer Naturept_PT
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.relationAssociate Laboratory for Sustainability and Tecnology in Mountain Regions
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/pt_PT
dc.subjectUnmanned aerial vehiclespt_PT
dc.subjectPosition trackingpt_PT
dc.subjectFiducial markerpt_PT
dc.titleA Comparison of Fiducial Markers Pose Estimation for UAVs Indoor Precision Landingpt_PT
dc.typeconference paper
dspace.entity.typePublication
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardTitleAssociate Laboratory for Sustainability and Tecnology in Mountain Regions
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F05757%2F2020/PT
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDP%2F05757%2F2020/PT
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/LA%2FP%2F0007%2F2020/PT
oaire.citation.endPage33pt_PT
oaire.citation.startPage18pt_PT
oaire.citation.title3rd International Conference on Optimization, Learning Algorithms and Applications (OL2A 2023)pt_PT
oaire.fundingStream6817 - DCRRNI ID
oaire.fundingStream6817 - DCRRNI ID
oaire.fundingStream6817 - DCRRNI ID
person.familyNameBerger
person.familyNameOliveira Júnior
person.familyNameBraun
person.familyNameLima
person.givenNameGuido S.
person.givenNameAlexandre de
person.givenNameJoão A.
person.givenNameJosé
person.identifierhttps://scholar.google.com/citations?user=WurUUUUAAAAJ&hl=pt-PT&oi=ao
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person.identifier.orcid0000-0003-0276-4314
person.identifier.orcid0000-0001-7902-1207
person.identifier.ridL-3370-2014
person.identifier.scopus-author-id57426745400
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person.identifier.scopus-author-id55851941311
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
project.funder.nameFundação para a Ciência e a Tecnologia
project.funder.nameFundação para a Ciência e a Tecnologia
rcaap.rightsrestrictedAccesspt_PT
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