A Motion Blur Resilient Fiducial for Quadcopter Imaging

Detection and Accurate Localization of Circular Fiducials under Highly Challenging Conditions

“…In practice, this can significantly affect the accuracy of the retrieved pose, because the error due to the center assumption increases with the size of the circle, and consequently the error of the computed pose grows as the camera gets closer to such a marker. This remark also holds for the methods proposed in [7] and [16]. In [7], a marker consists of four black dots, forming a square, located on a white background.…”

“…The fiducial markers proposed in [16] and [14] are the most similar to the one presented in this work. In [16], the authors propose a marker made up of concentric white rings on black background.…”

“…This property also holds in presence of motion blur since, as described in [16], the image of a circular fiducial is not affected by the blur along the line perpendicular to the direction of the motion blur. Consequently, the proposed circular fiducial can be detected and identified without explicitly un-blurring the image before the detection stage.…”

“…as implemented in ARToolkit [12]. However, such tracking alARTKPlus [18] RuneTag [2] PRASAD [16] Proposed Figure 2. Prior fiducials and our proposal.…”

“…In [16], the authors propose a marker made up of concentric white rings on black background. However, even in this case, the image of the marker's center is incorrectly assumed to be at the geometrical center of the marker's image.…”