Hello,
We had some queries about the ArUco marker placement in the challenge test as well as the final competition.
What is the expected distance/max distance between any two adjacent ArUco markers placed in the environment?
Regards,
Tejas Kulkarni
IIT Bombay Mars Rover Team
We don’t have this information at this moment. From what we’ve tested so far - the most distant ones were 8-10m from each other, the closest ones were around 50cm from each other. The general gist is - whenever the shape of the planned external boundary is tricky - we place more markers. Whenever straight line is fine - we place less markers. We also arbitrarily place two markers - one directly behind the robot (n-1) and one within it’s close proximity (0) - as stating points.
There will be one small change coming too - we’ve found out that if we place markers on the hills on the (added) height specified by the Technical Handbook they’re very rarely visible by cameras. To make your setup slightly easier (and not necesarily require unsafe hill climbs just to see the marker) some of the markers (tough spots mostly) will be placed closer to the ground (or even on the ground).