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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Veröffentlicht in:Pattern recognition Jg. 47; H. 6; S. 2280 - 2292
Hauptverfasser: Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Marín-Jiménez, M.J.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Kidlington Elsevier Ltd 01.06.2014
Elsevier
Schlagworte:
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
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Beschreibung
Zusammenfassung: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.
Bibliographie:ObjectType-Article-2
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ISSN:0031-3203
1873-5142
DOI:10.1016/j.patcog.2014.01.005