A Comparison of Fiducial Markers Pose Estimation for UAVs Indoor Precision Landing
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Cooperative robotics is exponentially gaining strength in scientific
research, especially regarding the cooperation between ground
mobile robots and Unmanned Aerial Vehicles (UAVs), where the remaining
challenges are equipollent to its potential uses in different fields, such
as agriculture and electrical tower inspections. Due to the complexity
involved in the process, precision landing by UAVs onmoving robotic platforms
for tasks such as battery hot-swapping is a major open research
question. This work explores the feasibility and accuracy of different fiducial
markers to aid in the precision landing process by a UAV on a mobile
robotic platform. For this purpose, a TelloUAVwas used to acquire images
at different positions, angles, and distances from ArUco, ARTag, and
ArUco Board markers to evaluate their detection precision. The analyses
demonstrate the highest reliability in the measurements performed
through the ArUco marker. Future work will be devoted to using the
ArUco marker to perform precision landing on a mobile robotic platform,
considering the necessary adjustments to lessen the impact of errors intrinsic
to detecting the fiducial marker during the landing procedure.
