Active Distance Measurement based on Robust Artificial Markers as a Building Block for a Service Robot Architecture

Abstract Software architectures for service robots have to support flexible combinations of basic algorithms to form complex goal directed behaviors. This paper presents a building block for an active distance measurement: the Glare Laser Range Scanner Robotics Experiment.The setup and the intended functionality of GLaRE are described and the more complex algorithms that form modules within GLaRE will be presented in detail. A artificial visual marker is chosen as a point of attention, for which the distances has to be determined. The detection of the marker is distance and orientation invariant and thus suitable for both experimental and practical applications. The overall architectural design of GLaRE will be described.

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