{"id":446,"date":"2019-10-20T12:55:29","date_gmt":"2019-10-20T12:55:29","guid":{"rendered":"https:\/\/peterklemperer.com\/blog\/?p=446"},"modified":"2019-10-20T13:06:36","modified_gmt":"2019-10-20T13:06:36","slug":"finicky-fiducial-frenzy","status":"publish","type":"post","link":"https:\/\/peterklemperer.com\/blog\/2019\/10\/20\/finicky-fiducial-frenzy\/","title":{"rendered":"Finicky Fiducial Frenzy"},"content":{"rendered":"\n<p>The RomiPi system uses the OpenCV standard ArucoTag system for indoor localization. Below is a picture of the markers representing the positions of robots Star, Port and French, relative to the RomiPi Jiffy. Additionally, the image shows the stream of the robot-mounted camera that the fiducial markers were extracted from. This is all possible because I finally got around to writing an RVIZ marker generation service.<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"721\" data-attachment-id=\"447\" data-permalink=\"https:\/\/peterklemperer.com\/blog\/2019\/10\/20\/finicky-fiducial-frenzy\/screen-shot-2019-10-20-at-8-33-25-am\/\" data-orig-file=\"https:\/\/peterklemperer.com\/blog\/wp-content\/uploads\/2019\/10\/Screen-Shot-2019-10-20-at-8.33.25-AM.png\" data-orig-size=\"2796,1968\" data-comments-opened=\"1\" data-image-meta=\"{&quot;aperture&quot;:&quot;0&quot;,&quot;credit&quot;:&quot;&quot;,&quot;camera&quot;:&quot;&quot;,&quot;caption&quot;:&quot;&quot;,&quot;created_timestamp&quot;:&quot;0&quot;,&quot;copyright&quot;:&quot;&quot;,&quot;focal_length&quot;:&quot;0&quot;,&quot;iso&quot;:&quot;0&quot;,&quot;shutter_speed&quot;:&quot;0&quot;,&quot;title&quot;:&quot;&quot;,&quot;orientation&quot;:&quot;0&quot;}\" data-image-title=\"Screen-Shot-2019-10-20-at-8.33.25-AM\" data-image-description=\"\" data-image-caption=\"\" data-medium-file=\"https:\/\/peterklemperer.com\/blog\/wp-content\/uploads\/2019\/10\/Screen-Shot-2019-10-20-at-8.33.25-AM-300x211.png\" data-large-file=\"https:\/\/peterklemperer.com\/blog\/wp-content\/uploads\/2019\/10\/Screen-Shot-2019-10-20-at-8.33.25-AM-1024x721.png\" src=\"https:\/\/peterklemperer.com\/blog\/wp-content\/uploads\/2019\/10\/Screen-Shot-2019-10-20-at-8.33.25-AM-1024x721.png\" alt=\"\" class=\"wp-image-447\" srcset=\"https:\/\/peterklemperer.com\/blog\/wp-content\/uploads\/2019\/10\/Screen-Shot-2019-10-20-at-8.33.25-AM-1024x721.png 1024w, https:\/\/peterklemperer.com\/blog\/wp-content\/uploads\/2019\/10\/Screen-Shot-2019-10-20-at-8.33.25-AM-300x211.png 300w, https:\/\/peterklemperer.com\/blog\/wp-content\/uploads\/2019\/10\/Screen-Shot-2019-10-20-at-8.33.25-AM-768x541.png 768w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h4 class=\"wp-block-heading\">Sounds great! Why the awkward title?<\/h4>\n\n\n\n<p>Visualization looks great in a still, but now check the video of the same scenario.<\/p>\n\n\n\n<figure class=\"wp-block-embed-youtube wp-block-embed is-type-video is-provider-youtube wp-embed-aspect-4-3 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Screen Recording 2019 10 20 at 8 34 16 AM\" width=\"640\" height=\"480\" src=\"https:\/\/www.youtube.com\/embed\/LgE8CrviSQY?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><figcaption>Jittery Jumping Jiffy<\/figcaption><\/figure>\n\n\n\n<p>In the video, Port, Star, and French appear to be bouncing all over the place in the visualizer. In reality, they are still relative to the camera-robot, Jiffy. Jiffy calculates its navigation targets relative to these jittery fiducials. Now, Jiffy&#8217;s navigation targets jump around also!<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">Next Steps<\/h4>\n\n\n\n<p>No solution for this yet, but my guess is that this is the time to start feeding into a world-model builder. I will probably start with the SLAM tools provided with the Turtlebot3 and then move from there if necessary.<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>More light<\/li><li>Bigger Fiducials<\/li><li>Improved Fiducial Board Placement<\/li><li>SLAM Integration<\/li><\/ul>\n","protected":false},"excerpt":{"rendered":"<p>The RomiPi system uses the OpenCV standard ArucoTag system for indoor localization. Below is a picture of the markers representing the positions of robots Star, Port and French, relative to the RomiPi Jiffy. Additionally, the image shows the stream of &hellip; <a href=\"https:\/\/peterklemperer.com\/blog\/2019\/10\/20\/finicky-fiducial-frenzy\/\">Continue reading <span class=\"meta-nav\">&rarr;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"jetpack_post_was_ever_published":false,"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_publicize_message":"","jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":true,"jetpack_social_options":{"image_generator_settings":{"template":"highway","default_image_id":0,"font":"","enabled":false},"version":2}},"categories":[1],"tags":[],"class_list":["post-446","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"jetpack_publicize_connections":[],"jetpack_featured_media_url":"","jetpack_shortlink":"https:\/\/wp.me\/p1VqWo-7c","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/posts\/446","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/comments?post=446"}],"version-history":[{"count":0,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/posts\/446\/revisions"}],"wp:attachment":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/media?parent=446"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/categories?post=446"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/tags?post=446"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}