This document summarizes fiducial-based tracking methods for monocular model-based 3D tracking of rigid objects. It discusses using point fiducials like circular markers whose 3D positions are known and can be located with sub-pixel accuracy. It also discusses using planar fiducials like square markers with black and white patterns and borders, as the corners of these fiducials can provide correspondence to precisely estimate camera pose through homography.

1. Monocular Model-Based 3D Tracking of Rigid Objects: A Survey2008. 12. 11.백운혁Chapter 3. Fiducial-Based Tracking

3. AgendaMonocular Model-Based 3D Tracking of Rigid Objects : A SurveyChapter 3. Fiducial-Based Tracking3.1 Point Fiducials3.2 Planar Fiducials

4. 3.1 Point FiducialThe 3D positions of the fiducials in the world coordinate system are assumed to be precisely known

5. 3.1 Point Fiducialcircular fiducials work bestinvariant under perspective distortion

6. 3.1 Point Fiducialcircular fiducials work besteasily be determined with sub-pixel accuracycolor-coded fiducials for an identificationcan be estimated up to sub-pixel accuracy

7. 3.2 Planar Fiducials

8. 3.2 Planar Fiducialssquared, black on white, fiducialsfour corners of such fiducials provides correspondenceit yields a robust, low-cost solution for real-time 3D tracking

9. 3.2 Planar Fiducials1. black border on a white background to facilitate the detection1. the image is binarized2. straight line and corner detection2. An inner pattern allows the identification1. compare it by template matching with the known patterns3. estimating the homographyIf the internal parameters of the camera are known, the camera pose can be recovered from

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