Determining and Improving the Localization Accuracy of AprilTag Detection

Kallwies, Jan; Forkel, Bianca; Wuensche, Hans-Joachim

doi:10.1109/icra40945.2020.9197427

Cited by 28 publications

(11 citation statements)

References 13 publications

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“…However, continuous motion compensation throughout the procedure may mitigate this issue. Furthermore, other sources of error possibly contributed to the inaccuracy of the registration process, such as errors introduced by ICP [73,74], tracking [75] or digitizer calibration [76]. For instance, Condino et al reported that the total registration error using OST-HMD in surgical applications is hardly lower than 5 mm [77].…”

Section: Discussionmentioning

confidence: 99%

Augmented Reality Based Surgical Navigation of Complex Pelvic Osteotomies—A Feasibility Study on Cadavers

et al. 2021

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Augmented reality (AR)-based surgical navigation may offer new possibilities for safe and accurate surgical execution of complex osteotomies. In this study we investigated the feasibility of navigating the periacetabular osteotomy of Ganz (PAO), known as one of the most complex orthopedic interventions, on two cadaveric pelves under realistic operating room conditions. Preoperative planning was conducted on computed tomography (CT)-reconstructed 3D models using an in-house developed software, which allowed creating cutting plane objects for planning of the osteotomies and reorientation of the acetabular fragment. An AR application was developed comprising point-based registration, motion compensation and guidance for osteotomies as well as fragment reorientation. Navigation accuracy was evaluated on CT-reconstructed 3D models, resulting in an error of 10.8 mm for osteotomy starting points and 5.4° for osteotomy directions. The reorientation errors were 6.7°, 7.0° and 0.9° for the x-, y- and z-axis, respectively. Average postoperative error of LCE angle was 4.5°. Our study demonstrated that the AR-based execution of complex osteotomies is feasible. Fragment realignment navigation needs further improvement, although it is more accurate than the state of the art in PAO surgery.

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Section: Discussionmentioning

confidence: 99%

Augmented Reality Based Surgical Navigation of Complex Pelvic Osteotomies—A Feasibility Study on Cadavers

et al. 2021

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“…For image-based pose calculations, visual fiducial markers are essential as a reference system whose lengths, shape, and structure is known. Nowadays, fiducial tags such as ARTags, AprilTags, or ArUcos are used (see Figure 2a), that all have their strengths and weaknesses as investigated, for example, in [62][63][64][65][66]. In this work, AprilTags are used as they perform comparably well in terms of accurate and robust pose detections; see, for example, [67].…”

Section: Visual Fiducial Markersmentioning

confidence: 99%

“…Abbas et al [63], for example, analyzed the position error propagation and identified the angular rotation of the camera about its vertical axis as the primary source of error. Kallwies et al [64] extensively studied the localization accuracy of AprilTags and concluded that AprilTags with a size of 10 × 10 px (i.e., camera pixels) can be detected with certainty. The mean error was 0.25 px and has a maximum of 1.17 px.…”

Section: Visual Fiducial Markersmentioning

confidence: 99%

High-Precision Absolute Pose Sensing for Parallel Mechanisms

Schempp

Schulz

2022

Sensors

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A parallel mechanism’s pose is usually obtained indirectly from the active joints’ coordinates by solving the direct kinematics problem. Its accuracy mainly depends on the accuracy of the measured active joints’ coordinates, the tolerances in the active and passive joints, possible backlash, axes misalignment, limb deformations due to stress or temperature, the initial pose estimate that is used for the numerical method, and the accuracy of the kinematic model itself. Backlash and temperature deformations in the active joints especially hinder high-precision applications as they usually cannot be observed. By implementing a camera module on the base platform and an array of fiducial tags on the moveable manipulator platform of a parallel mechanism, a highly accurate, direct, and absolute pose measurement system can be obtained that can overcome those limitations. In this paper, such a measurement system is proposed, designed, and its accuracy is investigated on a state-of-the-art H-811.I2 6-axis miniature hexapod by Physik Instrumente (PI) GmbH & Co. KG.

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“…In relation to model-based methods, Jin et al (2017), Kallwies et al (2020), andZakiev et al (2020) benchmark and improve fiducial marker systems, e.g., ArUco and AprilTag, influenced by elements such as gaussian noise, lighting, rotation, and occlusion. However, the experimental data is limited to synthetic data or indoor environments.…”

Section: Related Workmentioning

confidence: 99%

Vision-based positioning system for auto-docking of unmanned surface vehicles (USVs)

Volden

Stahl

Fossen

2021

Int J Intell Robot Appl

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This paper presents an independent stereo-vision based positioning system for docking operations. The low-cost system consists of an object detector and different 3D reconstruction techniques. To address the challenge of robust detections in an unstructured and complex outdoor environment, a learning-based object detection model is proposed. The system employs a complementary modular approach that uses data-driven methods, utilizing data wherever required and traditional computer vision methods when the scope and complexity of the environment are reduced. Both, monocular and stereo-vision based methods are investigated for comparison. Furthermore, easily identifiable markers are utilized to obtain reference points, thus simplifying the localization task. A small unmanned surface vehicle (USV) with a LiDAR-based positioning system was exploited to verify that the proposed vision-based positioning system produces accurate measurements under various docking scenarios. Field experiments have proven that the developed system performs well and can supplement the traditional navigation system for safety-critical docking operations.

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Determining and Improving the Localization Accuracy of AprilTag Detection

Cited by 28 publications

References 13 publications

Augmented Reality Based Surgical Navigation of Complex Pelvic Osteotomies—A Feasibility Study on Cadavers

Augmented Reality Based Surgical Navigation of Complex Pelvic Osteotomies—A Feasibility Study on Cadavers

High-Precision Absolute Pose Sensing for Parallel Mechanisms

Vision-based positioning system for auto-docking of unmanned surface vehicles (USVs)

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