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BUILDING - Apriltags specifications

Modified 2019-06-21 by Amaury Camus

A fully operational Duckietown, compliant autobots and a map of the Autolab.

The city is ready to be used for localization

The two localization demos: offline and online

Making the ground Apriltags

Modified 2019-06-19 by Amaury Camus

As a reminder, the Apriltags already have predetermined sets of usecase. The ranges of tags are specified in Table 2.2.

For localization, the ground Apriltags are in range 300 to 399.

Apriltag ID ranges
Purpose Size Family ID Range
Traffic signs 6.5cm x 6.5cm 36h11 1-199
Traffic lights 6.5cm x 6.5cm 36h11 200-299
Localization 6.5cm x 6.5cm 36h11 300-399
Street Name Signs 6.5cm x 6.5cm 36h11 400-587

To print the ones you need, you can find them here: pdf ps

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