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Co-authored-by: sfalexrog <sfalexrog@gmail.com> * Rework the structure. * Add Clever 4 assembling instruction. * Rework setup articles. * Many additional changes.
25 lines
1.2 KiB
Markdown
25 lines
1.2 KiB
Markdown
# ArUco markers
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> **Note** The following applies to [image versions](image.md) **0.16** and up. Older documentation is still available for [for version **0.15.1**](https://github.com/CopterExpress/clever/blob/v0.15.1/docs/ru/aruco.md).
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[ArUco markers](https://docs.opencv.org/3.2.0/d5/dae/tutorial_aruco_detection.html) are commonly used for vision-based position estimation.
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Examples of ArUco markers:
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> **Hint** Use the most matte paper for printing visual markers. Glossy paper may glitter in the light, severely deteriorating the quality of recognition.
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For rapid generation of markers for printing, you may use an online tool: http://chev.me/arucogen/.
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[Clever Raspberry Pi image](image.md) contains a pre-installed `aruco_pose` ROS package, which can be used for marker detection.
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## Modes of operation
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There are several preconfigured modes of operation for ArUco markers on the Clever drone:
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* [single marker detection and navigation](aruco_marker.md);
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* [map-based navigation](aruco_map.md).
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> **Info** Additional documentation for the `aruco_pose` ROS package is available [on GitHub](https://github.com/CopterExpress/clever/blob/master/aruco_pose/README.md).
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