Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Evaluation of April Tag and WhyCode Fiducial Systems for Autonomous
  Precision Drone Landing with a Gimbal-Mounted Camera   Fiducial markers provide a computationally cheap way for drones to determine
their location with respect to a landing pad and execute precision landings.
However, most existing work in this field uses a fixed, downward facing camera
that does not leverage the common gimbal-mounted camera setup found on many
drones. Such rigid systems cannot easily track detected markers, and may lose
sight of the markers in non-ideal conditions (e.g. wind gusts). This paper
evaluates April Tag and WhyCode fiducial systems for drone landing with a
gimbal-mounted, monocular camera, with the advantage that the drone system can
track the marker over time. However, since the orientation of the camera
changes, we must know the orientation of the marker, which is unreliable in
monocular fiducial systems. Additionally, the system must be fast. We propose 2
methods for mitigating the orientation ambiguity of WhyCode, and 1 method for
increasing the runtime detection rate of April Tag. We evaluate our 3 systems
against 2 default systems in terms of marker orientation ambiguity, and
detection rate. We test rates of marker detection in a ROS framework on a
Raspberry Pi 4, and we rank the systems in terms of their performance. Our
first WhyCode variant significantly reduces orientation ambiguity with an
insignificant reduction in detection rate. Our second WhyCode variant does not
show significantly different orientation ambiguity from the default WhyCode
system, but does provide additional functionality in terms of multi-marker
WhyCode bundle arrangements. Our April Tag variant does not show performance
improvements on a Raspberry Pi 4.

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The categories of this paper are: mtrl-th
10
The categories of this paper are: q-bio
11
The categories of this paper are: hep-lat
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The categories of this paper are: supr-con
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The categories of this paper are: solv-int
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The categories of this paper are: adap-org
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The categories of this paper are: hep-ex
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The categories of this paper are: nucl-th
0
The categories of this paper are: hep-ph
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The categories of this paper are: patt-sol
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The categories of this paper are: q-fin
3
The categories of this paper are: physics
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The categories of this paper are: bayes-an
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The categories of this paper are: cmp-lg
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The categories of this paper are: econ
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The categories of this paper are: nucl-ex