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yujinrobot / kobuki-x

Custom Kobuki Implementations
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Improve marker based localization algorithm #23

Closed jihoonl closed 10 years ago

jihoonl commented 10 years ago

Waiterbot localises its position using annotated AR marker's position in map. However, ar marker detection algorithm is not precise enough to trust. Detecting position of ar marker is good but it detects wrong orientation often.

jihoonl commented 10 years ago

This commit is a tweak to improve orientation error of ar marker detection. It uses annotated marker's orientation to compensate the error of ar marker orientation detection.

https://github.com/yujinrobot/kobuki-x/commit/64a654793d4292ff2bffe7bb7a1f84a543686ad5

jihoonl commented 10 years ago

Single AR Marker based localization seemed not working properly and the early approach was based wrong assumption. Instead, ar pair based localization is developed.