A Study on the Improvement of Navigation Accuracy with ArUco Markers

In this paper, we propose an error decreasing technique using ArUco Marker, in a robot navigation system using SLAM (Simultaneous Localization and Mapping) in which errors occur due to packet loss and time delay. This technique enables more accurate estimation of the position and orientation between the robot and ArUco Marker. Through camera calibration, we convert 3D input values of a real object into undistorted 2D data and establish corresponding relationships between dimensions. Additionally, we use homogeneous transformation matrices to estimate the current direction and degree of rotation of a robot using the marker. Most of robots can reach their destination area through navigation with trial and errors with some time consumption. Therefore, we introduce ArUco Marker to reduce such errors and designed navigation algorithm to enable relatively precise driving with enough fast time. Finally, we compare the navigation accuracy using SLAM of the conventional scheme with the proposed method of twice modifications of the marker information which can reduce the navigation error around actual destination and resulting in accuracy improvement through the position correction process using ArUco Marker recognition.