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Has anyone used April Tags with ROS?

asked 2013-11-29 10:12:39 -0500

Athoesen gravatar image

updated 2016-10-24 08:59:47 -0500

ngrennan gravatar image

My adviser had pointed me in the direction of these but it looks like they require their own OS/program. Has anyone used these in conjunction with ROS and could speak to their performance or ease of use?

ROSHydro with 12.04, three Kinects I'm trying to combine into one universal frame and image.

Edit: looks like some tools have been developed. Has anyone used these as well?

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answered 2013-11-29 11:26:15 -0500

mirzashah gravatar image

updated 2013-11-29 11:26:58 -0500

Not sure about "AprilTags", but they look pretty much the same as AR tags. Check out this package by Scott Niekum --, it's a ROS wrapper for the Alvar AR tag library. It works really well and seems quite robust.

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I've used both april tags and AR tags. As of this summer, the ar_track_alvar package was easier to get up and running, but I haven't tried it in Hydro.

lindzey gravatar image lindzey  ( 2013-12-03 18:59:46 -0500 )edit

But which is better (apriltags_ros vs ar-track-alvar) in terms of localisation accuracy ?

malharjajoo gravatar image malharjajoo  ( 2018-04-03 01:32:40 -0500 )edit

answered 2013-12-03 11:44:57 -0500

derekjchow gravatar image

I've put together a package to use AprilTags sometime ago based of a C++ library I found here. I've been meaning to polish it up for a while but haven't found time to do it. Your welcome to use what I have as a starting place.

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answered 2018-01-20 10:29:55 -0500

dasanche gravatar image


I've used Apriltags and ROS in several projects. The wrappers change a lot with time and therefore there are several versions around. Lastly, I've used the one pointed out in the link with the color image from a Xtion Primesense:

Hope it helps.

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Regretably, it only worked in Kinetic until a month ago. Since then it crashes. See my question about apriltags a month ago.

Sietse gravatar image Sietse  ( 2018-01-21 12:21:24 -0500 )edit

I cloned the repo last week in a colleagues computer and made it work with an Xtion Primesense on Friday, did no changes that I can remember. The computer runs an Ubuntu 16.04, Ros Kinetic distro and I can't remember now which version of Opencv, but I'd guess 3.0.

dasanche gravatar image dasanche  ( 2018-01-21 14:51:31 -0500 )edit

The problem started with the upgrade of opencv 3.2 to (currently) 3.3.1. It is a problem in apriltags itself, not ros I think.

Sietse gravatar image Sietse  ( 2018-01-21 14:57:37 -0500 )edit

answered 2017-04-25 03:14:09 -0500

AlexisTM gravatar image

There are 3 wrappers available but I don't know which one is better. I tested one, was working, but needed rework (like 5 lines) to accept grayscale image instead of a RGB image. (It was converting the RGB to Grayscale)

The solution I will investigate is simply to buy a OpenMV7 camera which features Apriltags detection onboard (:

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Asked: 2013-11-29 10:12:39 -0500

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Last updated: Jan 20 '18