Posture Estimation for Robot Navigation System based on AR Markers

We have developed a system for estimating the posture of AR markers and clarified its accuracy by experiments to be used as an AR robot navigation in the welfare environment. It provides us the distance between a marker and a camera, the Euler angle of the marker. Experiments revealed the accuracy of the distance is up to 4.0%, the error of angular posture is up to 7.0%, and the error of the distance between two markers is up to 8.0%.