Automatic generation and detection of highly reliable fiducial markers under occlusion

This paper presents a fiducial marker system specially appropriated for camera pose estimation in applications such as augmented reality and robot localization. Three main contributions are presented. First, we propose an algorithm for generating configurable marker dictionaries (in size and number...

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Vydáno v:	Pattern recognition Ročník 47; číslo 6; s. 2280 - 2292
Hlavní autoři:	Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Marín-Jiménez, M.J.
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	Kidlington Elsevier Ltd 01.06.2014 Elsevier
Témata:	Algorithms Applied sciences Artificial intelligence Augmented reality Computer science; control theory; systems Computer vision Dictionaries Exact sciences and technology Fiducial marker Image processing Information, signal and communications theory Markers Occlusion Pattern recognition. Digital image processing. Computational geometry Proposals Robots Segmentation Signal processing Telecommunications and information theory Computer vision Fiducial marker Augmented reality Dictionaries State of the art Image processing Algorithm Color image Robotics Image segmentation False negative Automatic measurement Automatic generation Position measurement Localization Robot
ISSN:	0031-3203, 1873-5142
On-line přístup:	Získat plný text
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Abstract	This paper presents a fiducial marker system specially appropriated for camera pose estimation in applications such as augmented reality and robot localization. Three main contributions are presented. First, we propose an algorithm for generating configurable marker dictionaries (in size and number of bits) following a criterion to maximize the inter-marker distance and the number of bit transitions. In the process, we derive the maximum theoretical inter-marker distance that dictionaries of square binary markers can have. Second, a method for automatically detecting the markers and correcting possible errors is proposed. Third, a solution to the occlusion problem in augmented reality applications is shown. To that aim, multiple markers are combined with an occlusion mask calculated by color segmentation. The experiments conducted show that our proposal obtains dictionaries with higher inter-marker distances and lower false negative rates than state-of-the-art systems, and provides an effective solution to the occlusion problem. •We propose an algorithm for generating configurable marker dictionaries.•We derive the maximum theoretical inter-marker distance.•A method for automatically detecting the markers and correcting errors is proposed.•A solution to the occlusion problem in augmented reality applications is shown.
AbstractList	This paper presents a fiducial marker system specially appropriated for camera pose estimation in applications such as augmented reality and robot localization. Three main contributions are presented. First, we propose an algorithm for generating configurable marker dictionaries (in size and number of bits) following a criterion to maximize the inter-marker distance and the number of bit transitions. In the process, we derive the maximum theoretical inter-marker distance that dictionaries of square binary markers can have. Second, a method for automatically detecting the markers and correcting possible errors is proposed. Third, a solution to the occlusion problem in augmented reality applications is shown. To that aim, multiple markers are combined with an occlusion mask calculated by color segmentation. The experiments conducted show that our proposal obtains dictionaries with higher inter-marker distances and lower false negative rates than state-of-the-art systems, and provides an effective solution to the occlusion problem. This paper presents a fiducial marker system specially appropriated for camera pose estimation in applications such as augmented reality and robot localization. Three main contributions are presented. First, we propose an algorithm for generating configurable marker dictionaries (in size and number of bits) following a criterion to maximize the inter-marker distance and the number of bit transitions. In the process, we derive the maximum theoretical inter-marker distance that dictionaries of square binary markers can have. Second, a method for automatically detecting the markers and correcting possible errors is proposed. Third, a solution to the occlusion problem in augmented reality applications is shown. To that aim, multiple markers are combined with an occlusion mask calculated by color segmentation. The experiments conducted show that our proposal obtains dictionaries with higher inter-marker distances and lower false negative rates than state-of-the-art systems, and provides an effective solution to the occlusion problem. •We propose an algorithm for generating configurable marker dictionaries.•We derive the maximum theoretical inter-marker distance.•A method for automatically detecting the markers and correcting errors is proposed.•A solution to the occlusion problem in augmented reality applications is shown.
Author	Garrido-Jurado, S. Madrid-Cuevas, F.J. Marín-Jiménez, M.J. Muñoz-Salinas, R.
Author_xml	– sequence: 1 givenname: S. surname: Garrido-Jurado fullname: Garrido-Jurado, S. email: i52gajus@uco.es – sequence: 2 givenname: R. surname: Muñoz-Salinas fullname: Muñoz-Salinas, R. email: rmsalinas@uco.es – sequence: 3 givenname: F.J. orcidid: 0000-0001-6557-7431 surname: Madrid-Cuevas fullname: Madrid-Cuevas, F.J. email: fjmadrid@uco.es – sequence: 4 givenname: M.J. orcidid: 0000-0001-9294-6714 surname: Marín-Jiménez fullname: Marín-Jiménez, M.J. email: mjmarin@uco.es
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Snippet	This paper presents a fiducial marker system specially appropriated for camera pose estimation in applications such as augmented reality and robot...
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SubjectTerms	Algorithms Applied sciences Artificial intelligence Augmented reality Computer science; control theory; systems Computer vision Dictionaries Exact sciences and technology Fiducial marker Image processing Information, signal and communications theory Markers Occlusion Pattern recognition. Digital image processing. Computational geometry Proposals Robots Segmentation Signal processing Telecommunications and information theory
Title	Automatic generation and detection of highly reliable fiducial markers under occlusion
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