Simultaneous Localization and Mapping Using Fiducial Markers

Overview

Ceiling fiducials

This package implements a system that uses ceiling mounted fiducial markers (think QR Codes) to allow a robot to identify its location and orientation. It does this by constructing a map of the ceiling fiducials. The position of one fiducial needs to be specified, then a map of the fiducials is built up from observing pairs of markers in the same image. Once the map has been constructed, the robot can identify its location by locating itself relative to one or more ceiling fiducials.

Floor fiducials

You can put the fiducials also on the floor and direct the camera downwards. This is used in EZ-Map and Conveyorbot as additional source of localization data.