Publication detail
Five Shades of Grey for Fast and Reliable Camera Pose Estimation
HEROUT, A. SZENTANDRÁSI, I. ZACHARIÁŠ, M. JURÁNKOVÁ, M. KAJAN, R.
Original Title
Five Shades of Grey for Fast and Reliable Camera Pose Estimation
English Title
Five Shades of Grey for Fast and Reliable Camera Pose Estimation
Type
conference paper
Language
en
Original Abstract
We introduce here an improved design of the Uniform Marker Fields and an algorithm for their fast and reliable detection. Our concept of the marker field is designed so that it can be detected and recognized for camera pose esti- mation: in various lighting conditions, under a severe per- spective, while heavily occluded, and under a strong motion blur. Our marker field detection harnesses the fact that the edges within the marker field meet at two vanishing points and that the projected planar grid of squares can be defined by a detectable mathematical formalism. The modules of the grid are greyscale and the locations within the marker field are defined by the edges between the modules. The assumption that the marker field is planar allows for a very cheap and reliable camera pose estimation in the captured scene. The detection rates and accuracy are slightly better compared to state-of-the-art marker-based solutions. At the same time, and more importantly, our de- tector of the marker field is several times faster and the re- liable real-time detection can be thus achieved on mobile and low-power devices. We show three targeted applica- tions where the planarity is assured and where the presented marker field design and detection algorithm provide a reliable and extremely fast solution.
English abstract
We introduce here an improved design of the Uniform Marker Fields and an algorithm for their fast and reliable detection. Our concept of the marker field is designed so that it can be detected and recognized for camera pose esti- mation: in various lighting conditions, under a severe per- spective, while heavily occluded, and under a strong motion blur. Our marker field detection harnesses the fact that the edges within the marker field meet at two vanishing points and that the projected planar grid of squares can be defined by a detectable mathematical formalism. The modules of the grid are greyscale and the locations within the marker field are defined by the edges between the modules. The assumption that the marker field is planar allows for a very cheap and reliable camera pose estimation in the captured scene. The detection rates and accuracy are slightly better compared to state-of-the-art marker-based solutions. At the same time, and more importantly, our de- tector of the marker field is several times faster and the re- liable real-time detection can be thus achieved on mobile and low-power devices. We show three targeted applica- tions where the planarity is assured and where the presented marker field design and detection algorithm provide a reliable and extremely fast solution.
Keywords
Fiduciary Markers, Uniform Marker Field, Checkerboard Detection, Seamless Marker, Overlapping Markers, Camera Localization, Augmented Reality, De-Bruijn Tori, Perfect Maps, Real-Time AR Localization, Visually Appealing Markers, Tolerance to Global/Local Lighting Conditions
RIV year
2013
Released
25.06.2013
Publisher
IEEE Computer Society
Location
Portland, OR
ISBN
978-0-7695-4989-7
Book
Proceedings of CVPR
Edition
NEUVEDEN
Edition number
NEUVEDEN
Pages from
1384
Pages to
1390
Pages count
7
Documents
BibTex
@inproceedings{BUT103477,
author="Adam {Herout} and István {Szentandrási} and Michal {Zachariáš} and Markéta {Juránková} and Rudolf {Kajan}",
title="Five Shades of Grey for Fast and Reliable Camera Pose Estimation",
annote="We introduce here an improved design of the Uniform
Marker Fields and an algorithm for their fast and reliable
detection. Our concept of the marker field is designed so
that it can be detected and recognized for camera pose esti-
mation: in various lighting conditions, under a severe per-
spective, while heavily occluded, and under a strong motion
blur.
Our marker field detection harnesses the fact that the
edges within the marker field meet at two vanishing points
and that the projected planar grid of squares can be defined
by a detectable mathematical formalism. The modules of
the grid are greyscale and the locations within the marker
field are defined by the edges between the modules.
The assumption that the marker field is planar allows
for a very cheap and reliable camera pose estimation in
the captured scene. The detection rates and accuracy are
slightly better compared to state-of-the-art marker-based
solutions. At the same time, and more importantly, our de-
tector of the marker field is several times faster and the re-
liable real-time detection can be thus achieved on mobile
and low-power devices. We show three targeted applica-
tions where the planarity is assured and where the presented
marker field design and detection algorithm provide a reliable and extremely fast
solution.",
address="IEEE Computer Society",
booktitle="Proceedings of CVPR",
chapter="103477",
edition="NEUVEDEN",
howpublished="print",
institution="IEEE Computer Society",
year="2013",
month="june",
pages="1384--1390",
publisher="IEEE Computer Society",
type="conference paper"
}