Authors:
Henning Tjaden
1
;
Ulrich Schwanecke
1
;
Frédéric Stein
2
and
Elmar Schömer
2
Affiliations:
1
RheinMain University of Applied Science, Germany
;
2
Johannes-Gutenberg University, Germany
Keyword(s):
Optical Tracking, Monocular Pose Estimation System, Infrared LED, Camera, High-Speed, Calibration.
Related
Ontology
Subjects/Areas/Topics:
Active and Robot Vision
;
Applications
;
Applications and Services
;
Computer Vision, Visualization and Computer Graphics
;
Enterprise Information Systems
;
Human and Computer Interaction
;
Human-Computer Interaction
;
Motion, Tracking and Stereo Vision
;
Pattern Recognition
;
Robotics
;
Software Engineering
;
Tracking and Visual Navigation
Abstract:
In this paper, we present a system for high-speed robust monocular tracking (HSRM-Tracking) of active markers. The proposed algorithm robustly and accurately tracks multiple markers at full framerate of current high-speed cameras. For this, we have developed a novel, nearly co-planar marker pattern that can be identified
without initialization or incremental tracking. The pattern also encodes a unique ID to identify different markers. The individual markers are calibrated semi-automatically, thus no time-consuming and error-prone manual measurement is needed. Finally we show that the minimal spatial structure of the marker can be used
to robustly avoid pose ambiguities even at large distances to the camera. This allows us to measure the pose of each individual marker with high accuracy in a vast area.