3d tracking : chapter3 fiducial-based tracking

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3d tracking : chapter3 fiducial-based tracking

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

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