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Proposal of an Encoded Marker for Working Robots: An Encoded Marker Easy to Detect in Various Positions and under Blur
Author(s) -
KOBORI NORIMASA,
DEGUCHI DAISUKE,
IDE ICHIRO,
MURASE HIROSHI
Publication year - 2017
Publication title -
electronics and communications in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.131
H-Index - 13
eISSN - 1942-9541
pISSN - 1942-9533
DOI - 10.1002/ecj.11987
Subject(s) - color marker , artificial intelligence , computer science , computer vision , clutter , robot , physics , telecommunications , radar , gel electrophoresis of proteins , nuclear magnetic resonance , polyacrylamide gel electrophoresis , enzyme
SUMMARY It is becoming important for working robots to be able to identify and pick objects in various tasks. As in the recent Amazon Picking Challenge, using a marker for the picking task is a more practicable approach. However, a common maker code for working robots does not exist so far. Conventional maker codes as represented by QR code or ARToolKit marker cannot be reliably detected from various viewpoints. Thus, in this paper, we propose a new encoded marker which is flexible to the marker's position and blur. The proposed marker can be detected by an approach based on the scale space theory independent from such conditions. In addition, the representation of data by M‐sequence makes the encoded marker robust to blur. Experimental results showed the effectiveness of the proposed marker compared to the ARToolKit marker. Since the marker is more robust against ground clutter noise, various positions of markers and blur, it is more practicable.