Apriltags testbench

About

Provides information on the accuracy of estimations made by Apriltag_ros library.

This repository is the content of src folder of a catkin workspace with multiple packages. The virtual environment and the custom files are created in custom package test_pipeline.

Tests performed

1. Static

   • Z - Distance - 2,4,6,8,10m
   • Yaw angle - 0,15,30,45,60,75° (at 2m and 5m)

2. Dynamic

   • Linear velocity - 0.5m/s (@ 2.5m and 4.5m distance)
   • Rotational velocity - 90°/s roll & yaw (@ 1m and 3m distance)

Tags

• Tag families:

  • 16h5 / 21h7 / 25h9 / 36h11

• Tags sizes:

  • Large tags ~15-20cm
  • Small tags ~5-7cm

• Resolutions:

  • 1080/720/360p (High/Med/Low)

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Results

• Slides

Extensive results can be found here

• Notebooks

All tests results can be found here

Rotational tests can be found here

Distance test results can be found here

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How to create own tests

See here