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All Journal JITEL (Jurnal Ilmiah Telekomunikasi, Elektronika, dan Listrik Tenaga) Industrial Research Workshop and National Seminar Journal of Fuzzy Systems and Control (JFSC)
Dwi Septiyanto, Dwi
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Humanities Chemical Engineering, Chemistry & Bioengineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Mechanical Engineering Other

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Journal : Journal of Fuzzy Systems and Control (JFSC)

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Implementation of Zhang's Camera Calibration Algorithm on a Single Camera for Accurate Pose Estimation Using ArUco Markers Herdiansyah, Junardo; Putra, Febi Ariefka Septian; Septiyanto, Dwi
Journal of Fuzzy Systems and Control Vol. 2 No. 3 (2024)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v2i3.256

Abstract

Pose estimation using ArUco markers is a method to estimate the position of ArUco markers relative to the camera lens. Accurate pose estimation is crucial for autonomous systems to navigate robots effectively. This study aims to achieve an ArUco Marker pose estimation accuracy of at least 95% using a single camera. The method employed to obtain accurate ArUco pose estimation results is by calibrating the camera with the Zhang camera calibration algorithm. This calibration is necessary to obtain the camera matrix and distortion coefficients, thereby enhancing the accuracy of the pose estimation results. The results of this study include achieving a cumulative calibration error of 0.0180 pixels and pose estimation errors at a distance of 50 cm between the marker and the camera lens. The accuracy on the X-axis was 100%, the Y-axis was 100%, and the Z-axis was 99.823%. At a distance of 70 cm, the pose estimation accuracy on the X-axis was 99.349%, on the Y-axis was 99.462%, and on the Z-axis was 99.066%. At a distance of 100 cm, the pose estimation accuracy on the X-axis was 96.349%, on the Y-axis was 97.641%, and on the Z-axis was 99.344%.
Co-Authors Ahmad Cahyadi **) Ariefka Septian Putra, Febi Fadihilah, Laili Fathan, Alfi Muhammad Herdiansyah, Junardo Heryanto, Pingkan Aryani Mardhiyyah, Nafisah Muhammad Ilman, Sofyan MULYONO, NANANG Putra, Febi Ariefka Septian Suyanto Toto Tohir