Artag, a fiducial marker system using digital techniques

The resulting library sizes are presented in Table 1. Larger libraries are more suitable for navigation through large interior spaces or inventory applications. Smaller libraries with higher minimum Hamming distances can be used for small-scale AR applications where occlusion is common. We generated libraries with different sizes and Hamming distances to accommodate for a variety of applications. Therefore, it is preferable to use the smallest marker library possible to benefit from the largest minimum Hamming distance. On the other hand, larger marker libraries have smaller minimum Hamming distances. With a minimum Hamming distance of 2 e + 1, e bit error correction can be implemented.Д®ven when the error correction will not be used, the increased distance reduces intermarker confusion rate. 2 Related Work (a) Matrix ДЇigure 2: Marker designs of some notable fiducial marker systems in the literature. Figure 1: An occluded marker is detected and its relative coordinate axes are drawn using the estimated pose. The edge segment-based marker detection algorithm runs in real-time and returns few false positives. To support the use of a wide range of numbers of markers, we generated various marker libraries by adapting the lexicographic generation algorithm. The pose refinement step that provides stability is unique in that it uses a single conic correspondence to estimate the homography, with the help of a very good starting point for the optimization. Since both of these features are simple, they do not degrade when seen from long distances and acute viewing angles, resulting in robust detection. The outer square border is used for detection and pose estimation, and the inner circular border is used to refine the estimated pose. This is achieved by the hybrid marker design seen in Figure 1. In this paper, we propose STag, a fiducial marker system that provides stable localization without using any temporal filtering.

Artag, a fiducial marker system using digital techniques