2021
DOI: 10.48550/arxiv.2104.12954
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Navigation of a Self-Driving Vehicle Using One Fiducial Marker

Yibo Liu,
Hunter Schofield,
Jinjun Shan

Abstract: Navigation using only one marker, which contains four artificial features, is a challenging task since camera pose estimation using only four coplanar points suffers from the rotational ambiguity problem in a real-world application. This paper presents a framework of vision-based navigation for a self-driving vehicle equipped with multiple cameras and a wheel odometer. A multiple camera setup is presented for the camera cluster which has 360 • vision such that our framework solely requires one planar marker. A… Show more

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