apriltag unstable

I'm using apriltag to assist my robot to carry a box from a certain station. But I found the apriltag is much unstable to locate and follow.

Work flow: findmark() rotate to find the apriltag roughdocking() move robot to a dockpoint which is 1.3m in front of the station (at this step, I need to use tf between camera(->baselink) and the tag), but this step is really hard to get to the same point smoothdocking() move robot based on ydifference between base_link to apriltag

error limited to +-2cm

Does anyone have tried to stablize the result of apriltag or help with a better idea to dock the robot?

Asked by smilejay on 2023-06-20 04:32:39 UTC

Comments

Hi!

Which other (relevant) sensors does your robot have? LIDAR maybe? Which is the error you get with the approach you have described?

Also, pictures of the robot and the scenario, as well as a video to document the apriltag instability may help in having a better insight into your problem.

Asked by bluegiraffe-sc on 2023-06-23 03:20:46 UTC