ArUco markers
ArUco markers are commonly used for vision-based position estimation.
Examples of ArUco markers:
TIP
Use the most matte paper for printing visual markers. Glossy paper may glitter in the light, severely deteriorating the quality of recognition.
For rapid generation of markers for printing, you may use an online tool: http://chev.me/arucogen/.
Clover Raspberry Pi image contains a pre-installed aruco_pose
ROS package, which can be used for marker detection.
Modes of operation
There are several preconfigured modes of operation for ArUco markers on the Clover drone:
TIP
Additional documentation for the aruco_pose
ROS package is available on GitHub.