Scalable Fiducial Tag Localization on a 3D Prior Map via Graph-Theoretic Global Tag-Map Registration
Kenji Koide,Shuji Oishi,Masashi Yokozuka,Atsuhiko Banno,Kenji Koide,Shuji Oishi,Masashi Yokozuka,Atsuhiko Banno
This paper presents an accurate and scalable method for fiducial tag localization on a 3D prior environmental map. The proposed method comprises three steps: 1) visual odometry-based landmark SLAM for estimating the relative poses between fiducial tags, 2) geometrical matching-based global tag-map registration via maximum clique finding, and 3) tag pose refinement based on direct camera-map alignm...
