Automatic generation and detection of highly reliable fiducial markers under occlusion
Automatic generation and detection of highly reliable fiducial markers under occlusion
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DOI：
10.1016/j.patcog.2014.01.005
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发表时间：
2014-06-01
影响因子：
8
通讯作者：
Marin-Jimenez, M. J.
中科院分区：
文献类型：
--
作者：
Garrido-Jurado, S.;Munoz-Salinas, R.;Marin-Jimenez, M. J.
本文提出了一种适用于增强现实和机器人定位等应用中摄像机姿态估计的基准标记系统。本文提出了三个主要贡献。首先，我们提出了一种算法，用于生成可配置的标记字典（在大小和位数上），该算法遵循最大化标记间距离和位转换数量的标准。在此过程中，我们推导出方形二元标记字典所能具有的最大理论标记间距离。其次，提出了一种自动检测标记和纠错的方法。第三，给出了增强现实应用中遮挡问题的解决方案。为此，将多个标记与通过颜色分割计算的遮挡掩模相结合。实验结果表明，该方法获得的词典比现有系统具有更高的标记间距离和更低的误报率，有效地解决了遮挡问题。(C) 2014 Elsevier Ltd.版权所有。
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. (C) 2014 Elsevier Ltd. All rights reserved.