quARtet Marker: A 3D-Printable Multi-Tag Fiducial for Robust Near-Frontal Pose Estimation
quARtet Marker: A 3D-Printable Multi-Tag Fiducial for Robust Near-Frontal Pose Estimation
This research proposes quARtet Marker, a 3D-printable fiducial that uses multiple tilted tags to improve pose estimation for robotic manipulation. The design addresses the limitations of single planar tags in near-frontal views by using tilted tags that maintain perspective cues. Experiments show that the marker reduces mean frontal orientation error and root-mean-square position error significantly, with layouts featuring flat contact strips performing better in graspability tests.
Source: arXiv Robotics — research abstracts · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
mean frontal orientation error
2.18
View original evidence
mean frontal orientation error from 2.18 degree for a single planar tag
Open source S4mean frontal orientation error
0.24–0.47
View original evidence
mean frontal orientation error from 2.18 degree for a single planar tag to 0.24-0.47 degree
Open source S4
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
fabricated geometry and the detector model. Because tilting consumes flat area, its three layouts trade pose-estimation consistency against graspability. In robot-referenced, same-setup fixed-camera experiments, all three layouts reduced the mean frontal orientation error from 2.18 degree for a single planar tag to 0.24-0.47 degree and the root-mean-square position error from 1.50 to 0.17-0.20 mm. A robot-mounted-cam
Open source S4
era pose-hold test confirmed this separation under closed-loop visual feedback. In swing-down trials under identical conditions, the two layouts with flat contact strips retained the object, whereas the layout without flat strips slipped about a hundred times more than a single planar tag. For the tested conditions, the results support a rule: the layout without flat strips when pose-estimation consistency dominates,
Open source S5
Source：arXiv Robotics — research abstracts · arxiv.org