Implementation of Zhang's Camera Calibration Algorithm on a Single Camera for Accurate Pose Estimation Using ArUco Markers
DOI:
https://doi.org/10.59247/jfsc.v2i3.256Keywords:
Camera Calibration, Pose Estimation, ArUco Marker, Zhang, Image ProcessingAbstract
Pose estimation using ArUco markers is a method to estimate the position of ArUco markers relative to the camera lens. Accurate pose estimation is crucial for autonomous systems to navigate robots effectively. This study aims to achieve an ArUco Marker pose estimation accuracy of at least 95% using a single camera. The method employed to obtain accurate ArUco pose estimation results is by calibrating the camera with the Zhang camera calibration algorithm. This calibration is necessary to obtain the camera matrix and distortion coefficients, thereby enhancing the accuracy of the pose estimation results. The results of this study include achieving a cumulative calibration error of 0.0180 pixels and pose estimation errors at a distance of 50 cm between the marker and the camera lens. The accuracy on the X-axis was 100%, the Y-axis was 100%, and the Z-axis was 99.823%. At a distance of 70 cm, the pose estimation accuracy on the X-axis was 99.349%, on the Y-axis was 99.462%, and on the Z-axis was 99.066%. At a distance of 100 cm, the pose estimation accuracy on the X-axis was 96.349%, on the Y-axis was 97.641%, and on the Z-axis was 99.344%.
References
P. Corke. Robotics and control: fundamental algorithms in MATLAB®. vol. 141. springer Nature. 2021. https://books.google.co.id/books?hl=id&lr=&id=NXBJEAAAQBAJ.
D. A. Forsyth and J. Ponce. Computer vision: a modern approach. prentice hall professional technical reference. 2002. https://dl.acm.org/doi/abs/10.5555/580035.
F. Ababsa and M. Mallem, “Robust camera pose estimation using 2D fiducials tracking for real-time augmented reality systems,” Int. J. Image Graphics, vol. 4, no. 4, pp. 643-661, 2004, https://doi.org/10.1145/1044588.1044682.
I. A. Aguilar, A. C. Sementille, and S. R. Sanches, “ARStudio: A low-cost virtual studio based on Augmented Reality for video production,” Multimedia Tools and Applications, vol. 78, pp. 33899-33920, 2019, https://doi.org/10.1007/s11042-019-08064-4.
J. Beltrán, C. Guindel, A. de la Escalera and F. García, "Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups," in IEEE Transactions on Intelligent Transportation Systems, vol. 23, no. 10, pp. 17677-17689, 2022, https://doi.org/10.1109/TITS.2022.3155228.
S. Lee, S. Shim, H. -G. Ha, H. Lee and J. Hong, "Simultaneous Optimization of Patient–Image Registration and Hand–Eye Calibration for Accurate Augmented Reality in Surgery," in IEEE Transactions on Biomedical Engineering, vol. 67, no. 9, pp. 2669-2682, 2020, https://doi.org/10.1109/TBME.2020.2967802.
S. Wu, A. Hadachi, D. Vivet and Y. Prabhakar, "NetCalib: A Novel Approach for LiDAR-Camera Auto-calibration Based on Deep Learning," 2020 25th International Conference on Pattern Recognition (ICPR), pp. 6648-6655, 2021, https://doi.org/10.1109/ICPR48806.2021.9412653.
M. Cao, L. Zheng, W. Jia, H. Lu and X. Liu, "Accurate 3-D Reconstruction Under IoT Environments and Its Applications to Augmented Reality," in IEEE Transactions on Industrial Informatics, vol. 17, no. 3, pp. 2090-2100, 2021, https://doi.org/10.1109/TII.2020.3016393.
J. Li, Z. Chen, G. Rao and J. Xu, "Structured Light-Based Visual Servoing for Robotic Pipe Welding Pose Optimization," in IEEE Access, vol. 7, pp. 138327-138340, 2019, https://doi.org/10.1109/ACCESS.2019.2943248.
T. Cavallari et al., "Real-Time RGB-D Camera Pose Estimation in Novel Scenes Using a Relocalisation Cascade," in IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 42, no. 10, pp. 2465-2477, 2020, https://doi.org/10.1109/TPAMI.2019.2915068.
D. J. Yeong, G. Velasco-Hernandez, J. Barry, and J. Walsh, “Sensor and sensor fusion technology in autonomous vehicles: A review,” Sensors, vol. 21, no. 6, p. 2140, 2021, https://doi.org/10.3390/s21062140.
L. Tao, R. Xia, J. Zhao, T. Zhang, Y. Chen and S. Fu, "A Convenient and High-Accuracy Multicamera Calibration Method Based on Imperfect Spherical Objects," in IEEE Transactions on Instrumentation and Measurement, vol. 70, pp. 1-15, 2021, https://doi.org/10.1109/TIM.2021.3113132.
A. Assadzadeh, M. Arashpour, A. Bab‐Hadiashar, T. Ngo, and H. Li, “Automatic far‐field camera calibration for construction scene analysis,” Computer‐Aided Civil and Infrastructure Engineering, vol. 36, no. 8, pp. 1073-1090, 2021, https://doi.org/10.1111/mice.12660.
B. Nagy, L. Kovács and C. Benedek, "Online Targetless End-to-End Camera-LIDAR Self-calibration," 2019 16th International Conference on Machine Vision Applications (MVA), pp. 1-6, 2019, https://doi.org/10.23919/MVA.2019.8757887.
M. Kalaitzakis, S. Carroll, A. Ambrosi, C. Whitehead and N. Vitzilaios, "Experimental Comparison of Fiducial Markers for Pose Estimation," 2020 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 781-789, 2020, https://doi.org/10.1109/ICUAS48674.2020.9213977.
G. Čepon, D. Ocepek, M. Kodrič, M. Demšar, T. Bregar, and M. Boltežar, “Impact-pose estimation using ArUco markers in structural dynamics,” Experimental Techniques, vol. 48, no. 2, pp. 369-380, 2024, https://doi.org/10.1007/s40799-023-00646-0.
A. T. Duchowski, V. Peysakhovich, and K. Krejtz, “Using Pose Estimation to Map Gaze to Detected Fiducial Markers,” Procedia Computer Science, vol. 176, pp. 3771-3779, 2020, https://doi.org/10.1016/j.procs.2020.09.010.
Y. Wang, Z. Zheng, Z. Su, G. Yang, Z. Wang and Y. Luo, "An Improved ArUco Marker for Monocular Vision Ranging," 2020 Chinese Control And Decision Conference (CCDC), pp. 2915-2919, 2020, https://doi.org/10.1109/CCDC49329.2020.9164176.
Z. Zhou, W. Tang, Z. Wang, L. Wang and R. Zhang, "Multi-robot Real-time Cooperative Localization Based on High-speed Feature Detection and Two-stage Filtering," 2021 IEEE International Conference on Real-time Computing and Robotics (RCAR), pp. 690-696, 2021, https://doi.org/10.1109/RCAR52367.2021.9517423.
S. Roos-Hoefgeest, I. A. Garcia and R. C. Gonzalez, "Mobile robot localization in industrial environments using a ring of cameras and ArUco markers," IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society, pp. 1-6, 2021, https://doi.org/10.1109/IECON48115.2021.9589442.
A. Marut, K. Wojtowicz and K. Falkowski, "ArUco markers pose estimation in UAV landing aid system," 2019 IEEE 5th International Workshop on Metrology for AeroSpace (MetroAeroSpace), pp. 261-266, 2019, https://doi.org/10.1109/MetroAeroSpace.2019.8869572.
I. de Medeiros Esper, O. Smolkin, M. Manko, A. Popov, P. J. From, and A. Mason, “Evaluation of RGB-D multi-camera pose estimation for 3D reconstruction,” Applied Sciences, vol. 12, no. 9, p. 4134, 2022, https://doi.org/10.3390/app12094134.
J. L. Pulloquinga, D. Corrata, V. Mata, A. Valera, and M. Vallés, “Experimental Analysis of Pose Estimation Based on ArUco Markers,” In International Conference Innovation in Engineering, pp. 138-149, 2024, https://doi.org/10.1007/978-3-031-61582-5_12.
J. Howse and J. Minichino. Learning OpenCV 4 Computer Vision with Python 3: Get to grips with tools, techniques, and algorithms for computer vision and machine learning. Packt Publishing Ltd. 2020. https://books.google.co.id/books?hl=id&lr=&id=ef_RDwAAQBAJ.
B. Huang, Y. Tang, S. Ozdemir and H. Ling, "A Fast and Flexible Projector-Camera Calibration System," in IEEE Transactions on Automation Science and Engineering, vol. 18, no. 3, pp. 1049-1063, 2021, https://doi.org/10.1109/TASE.2020.2994223.
A. D. A. Zakawali, E. Loniza, M. Safitri, dan M. A. Baballe, “Evaluating the Impact of Cliplimit Parameters and Viewing Distance on Image Clarity in Vein Viewer,” Journal of Fuzzy Systems and Control, vol. 1, no. 3, 2023, https://doi.org/10.59247/jfsc.v2i1.173.
O. Kedilioglu, T. M. Bocco, M. Landesberger, A. Rizzo and J. Franke, "ArUcoE: Enhanced ArUco Marker," 2021 21st International Conference on Control, Automation and Systems (ICCAS), pp. 878-881, 2021, https://doi.org/10.23919/ICCAS52745.2021.9650050.
Downloads
Published
How to Cite
Issue
Section
License
Copyright (c) 2024 Junardo Herdiansyah, Febi Ariefka Septian Putra, Dwi Septiyanto
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
