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High Precision Positioning with Multi-Camera Setups: Adaptive Kalman Fusion Algorithm for Fiducial Markers.

Dragos Constantin Popescu^1,2, Ioan Dumitrache^1,3, Simona Iuliana Caramihai¹

¹Faculty of Automatic Control and Computers, University Politehnica of Bucharest, Splaiul Independentei No. 313, 060042 Bucharest, Romania.

Sensors (Basel, Switzerland)

|May 15, 2020

Summary

This study enhances multi-camera systems for precise fiducial marker positioning. An adaptive Kalman filter improves accuracy and extends the operational range, mitigating noise for reliable measurements.

Keywords:

adaptive kalman critical infrastructures fiducial markers measurement fusion optical measurements positioning system

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Area of Science:

Computer Vision
Robotics
Measurement Science

Background:

Accurate positioning of fiducial markers is crucial for various scientific and industrial applications.
Existing multi-camera systems face limitations in precision and working area, often impacted by measurement noise.

Purpose of the Study:

To develop a robust method for fusing multi-camera measurements to improve fiducial marker localization.
To enhance system precision and extend the operational workspace through advanced data fusion techniques.

Main Methods:

An adaptive Kalman filter algorithm is employed for both camera calibration and marker pose estimation.
Techniques to mitigate the effects of measurement noise are integrated into the fusion process.
Monte Carlo simulations are utilized to rigorously test and validate the proposed method across diverse scenarios.

Main Results:

The proposed fusion method demonstrates significant improvements in the precision of fiducial marker position estimation.
The system's working area is effectively extended, providing greater flexibility in applications.
Qualitative precision results from Monte Carlo simulations confirm the method's effectiveness compared to existing approaches.

Conclusions:

The adaptive Kalman filter-based fusion method offers a precise and extended solution for multi-camera fiducial marker localization.
The developed technique is well-suited for physics experiments requiring high-accuracy positioning and alignment.
The method's generalizability allows for its application in a broad spectrum of related fields.