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3 d tracking_-_chapter3_fiducial-based_tracking

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Transcript

  • 1. Monocular Model-Based 3D Tracking of Rigid Objects: A Survey
    2008. 12. 11.백운혁
    Chapter 3. Fiducial-Based Tracking
  • 2.
  • 3. Agenda
    Monocular Model-Based 3D Tracking of Rigid Objects : A Survey
    Chapter 3. Fiducial-Based Tracking
    3.1 Point Fiducials
    3.2 Planar Fiducials
  • 4. 3.1 Point Fiducial
    The 3D positions of the fiducials in the world coordinate system
    are assumed to be precisely known
  • 5. 3.1 Point Fiducial
    circular fiducials work best
    invariant under perspective distortion
  • 6. 3.1 Point Fiducial
    circular fiducials work best
    easily be determined with sub-pixel accuracy
    color-coded fiducials for an identification
    can be estimated up to sub-pixel accuracy
  • 7. 3.2 Planar Fiducials
  • 8. 3.2 Planar Fiducials
    squared, black on white, fiducials
    four corners of such fiducials provides correspondence
    it yields a robust, low-cost solution for real-time 3D tracking
  • 9. 3.2 Planar Fiducials
    1. black border on a white background to facilitate 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 patterns
    3. estimating the homography
    If the internal parameters of the camera are known, the camera pose can be recovered from
  • 10. Thanks for your attention