AcTag: Opti-Acoustic Fiducial Markers for Underwater Localization and Mapping
Project description
AcTag: Opti-Acoustic Fiducial Markers for Underwater Localization and Mapping
AcTag is a novel opti-acoustic fiducial marker that can be detected in both optical and acoustic images. When seen through an imaging sonar, AcTags provide the unique identification of four individual landmarks per tag, and provide relative range and azimuth values to each landmark. When seen with a camera, AcTags provide a valid 6-DOF pose estimate through the use of the apriltag repository. In addition, AcTags are cheap, easy to manufacture, and can be easily detected with this open-source repository. Therefore, we believe that AcTag has significant potential to improve underwater robotic localization and mapping by enabling accurate tracking of objects in underwater environments.
Documentation
Documentation on this repository can be found on Read the Docs. Please see the Quickstart guide for a quick overview into detecting AcTags.
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