RoboTag
RoboTags - Fiducial Markers for Robotic Vision, Navigation and Object Recognition
This is fiducial recognition software intended for robotic vision applications. It is was originally written by Mike Thompson in 2006 and was inspired by the functionality of the closed source ARTag Revision 1 fiducial software. This original code is now outdated by other libraries that have since implemented similar functionality, but is maintained here for historical purposes.
See the Presentation folder in this repository for an overview of how fiducial markers can be used for robotics applications.
This code inspired the fiducial based navigation system implemented by Ubiquity Robotics for their robots and the associated ROS fiducials package. Ceiling mounted fiducial markers allow a robot to identify its location and orientation. It does this by constructing a map of the ceiling fiducials. The position of one fiducial needs to be specified, then a map of the fiducials is built up from observing pairs of markers in the same image. Once the map has been constructed, the robot can identify its location by locating itself relative to one or more ceiling fiducials.