apriltag_ros (supports AprilTag2 and AprilTag3)

Overview

This is a ROS package for sending apriltag msgs via ROS, and also uses apriltag library from the April Lab. This package supports both AprilTag2 and the latest AprilTag3 (default branch).

Author: Bruce JK Huang Maintainer: Bruce JK Huang, [email protected]
Affiliation: The Biped Lab, the University of Michigan This package has been tested under [ROS] Kinetic and Ubuntu 16.04.

[Note] This package is used for automatic extrinsic calibration between a 3D LiDAR and a camera, described in paper: 3D LiDAR Intrinsic Calibration and Automatic System for LiDAR to Camera Calibration (PDF) and used for extrinsic calibration between a 3D LiDAR and a camera, described in paper: Improvements to Target-Based 3D LiDAR to Camera Calibration (PDF)

[Issues] If you encounter any issues, I would be happy to help. If you cannot find a related one in the existing issues, please open a new one. I will try my best to help!

Results Overview

Input/Output

It takes a camera image and outputs the corresponding ID, tag size, pose, inner corners, and outer corners, etc.

Installation

Please download the AprilTag_msgs and place them under a catkin workspace. Inside the package, please make the AprilTag library first, or you will encounter compiling error.

Testing Datasets

Please download from here.

Running

This package provides a launch file that you can directly run the package.

Citations

1. Jiunn-Kai Huang, Chenxi Feng, Madhav Achar, Maani Ghaffari, and Jessy W. Grizzle, "Global Unifying Intrinsic Calibration for Spinning and Solid-State LiDARs" (arXiv)

@article{huang2020global,
  title={Global Unifying Intrinsic Calibration for Spinning and Solid-State LiDARs},
  author={Huang, Jiunn-Kai and Feng, Chenxi and Achar, Madhav and Ghaffari, Maani and Grizzle, Jessy W},
  journal={arXiv preprint arXiv:2012.03321},
  year={2020}
}

2. Jiunn-Kai Huang and J. Grizzle, "Improvements to Target-Based 3D LiDAR to Camera Calibration" (PDF)(arXiv)

@article{huang2020improvements,
  author={J. {Huang} and J. W. {Grizzle}},
  journal={IEEE Access}, 
  title={Improvements to Target-Based 3D LiDAR to Camera Calibration}, 
  year={2020},
  volume={8},
  number={},
  pages={134101-134110},}