Monocular Model-Based 3D Tracking of Rigid Ob-jects: A Survey

2008. 12. 11.백운혁

Chapter 3. Fiducial-Based Tracking

Agenda

Monocular Model-Based 3D Tracking of Rigid Objects : A Survey

Chapter 3. Fiducial-Based Tracking 3.1 Point Fiducials 3.2 Planar Fiducials

3.1 Point FiducialThe 3D positions of the fiducials in the world coordinate system

are assumed to be precisely known

3.1 Point Fiducial

circular fiducials work best invariant under perspective distortion

3.1 Point Fiducial

circular fiducials work best easily be determined

with sub-pixel accuracy

color-coded fiducials for an identifi-cation

im can be estimated up to sub-pixel accuracy

j

j

pj

pjj

i pI

ppI

m)(

)(

3.2 Planar Fiducials

3.2 Planar Fiducials

squared, black on white, fiducials four corners of such fiducials

provides cor-respondence

it yields a robust, low-cost solution for real-time 3D tracking

3.2 Planar Fiducials

1. black border on a white background to facili-tate the detection 1. the image is binarized 2. straight line and corner detection

2. An inner pattern allows the identification 1. compare it by template matching with the known pat-

terns

3. estimating the homography

If the internal parameters of the camera are known, the camera pose can be recovered from

H

H

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