Polaris: Accurate, Vision-free Fiducials for Mobile Robots with Magnetic Constellation
Authors: Jike Wang, Yasha Iravantchi, Alanson P. Sample, Kang G. Shin, Xinbing Wang, Dongyao Chen
Abstract
Fiducial marking is indispensable in mobile robots, including their pose calibration, contextual perception, and navigation. However, existing fiducial markers rely solely on vision-based perception which suffers such limitations as occlusion, energy overhead, and privacy leakage.