Fractal marker fields: No more scale limitations for fiduciary markers

Herout, Adam; Zacharias, Michal; Dubská, Markéta; Havel, Jiří

doi:10.1109/ismar.2012.6402576

Cited by 12 publications

(6 citation statements)

References 7 publications

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“…In our outdoor context, efficient marker-based solutions [5] cannot obviously be used. Relevant markerless solutions based on image processing [6,7] could be proposed instead, and the solution described in [8] is for instance promising on mobile platforms.…”

Section: Outdoor Applicationsmentioning

confidence: 99%

Dedicated object processor for mobile augmented reality - sailor assistance case study

2015

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This paper addresses the design of embedded systems for outdoor augmented reality (AR) applications integrated to see-through glasses. The set of tasks includes object positioning, graphic computation, as well as wireless communications, and we consider constraints such as real-time, low power, and low footprint. We introduce an original sailor assistance application, as a typical, useful, and complex outdoor AR application, where context-dependent virtual objects must be placed in the user field of view according to head motions and ambient information. Our study demonstrates that it is worth working on power optimization, since the embedded system based on a standard general-purpose processor (GPP) + graphics processing unit (GPU) consumes more than high-luminosity see-through glasses. This work presents then three main contributions, the first one is the choice and combinations of position and attitude algorithms that fit with the application context. The second one is the architecture of the embedded system, where it is introduced as a fast and simple object processor (OP) optimized for the domain of mobile AR. Finally, the OP implements a new pixel rendering method (incremental pixel shader (IPS)), which is implemented in hardware and takes full advantage of OpenGL ES light model. A GP+OP(s) complete architecture is described and prototyped on field programmable gate-array (FPGA). It includes hardware/software partitioning based on the analysis of application requirements and ergonomics.

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Section: Outdoor Applicationsmentioning

confidence: 99%

Dedicated object processor for mobile augmented reality - sailor assistance case study

2015

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“…For in stantaneous, dynamic and non-expert scenarios with un known spatial relationship, continuous localization may be achieved by increasing the detection range and robustness of individual markers using a compound design of recur sively co-located or nested markers of varying size [27], [28]. We apply this paradigm for the contest scenario, where we discuss the properties of co-located and nested designs and provide a set of novel markers as part of the library.…”

Section: Marker Properties and Designmentioning

confidence: 99%

A quadrocopter automatic control contest as an example of interdisciplinary design education

Nitschke

Minami

Hiromoto

et al. 2014

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)

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Unmanned aerial vehicles (UAVs) have many applications and quickly gain popularity with the availability of low-cost micro aerial vehicles (MAVs). Robotics is a popular interdisciplinary education target as it involves understanding and collaboration of several disciplines. Thus, UAVs can serve as an ideal study platform. However, as robotics requires technical background, skills and initial efforts, it is commonly applied in long-term courses. In this paper we successfully exploit the opposite case of robotics in short-term education for students without background, in form of a one-day contest on automatic visual UAV navigation. We provide an extensive survey, and show that existing material and tools do not fit the task and lack in technical aspects. We introduce a novel open-source programming library that comprises programs to guide learning by experience and allow rapid development. It makes contributions to marker-based tracking, with a novel nested-marker design and accurate calibration parameters estimated from 14 Parrot AR.Drone 2.0 front cameras. We show a detailed discussion of the contest results, which represents an extensive user study regarding robotics in education and the effectiveness of the library. The achievement of a steep learning curve for a complex subject has important implications in interdisciplinary design education, as it allows deep understanding of potentials and limitations to facilitate decision-making, unconventional problem solutions and novel applications.

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“…For instantaneous, dynamic and non-expert scenarios with unknown spatial relationship, continuous localization may be achieved by increasing the detection range and robustness of individual markers using a compound design of recursively co-located or nested markers of varying size [32], [33]. We apply this paradigm and introduce novel co-located and nested designs, and provide a set of markers as part of the library.…”

Section: B Marker Properties and Designmentioning

confidence: 99%

“…Instead, we aim for a small number of distant, independent and human-distinguishable marker-attached landmarks. To achieve large-range tracking, we replace ordinary markers with compound markers, consisting of a group of differentlysized markers [32], [33], which we refer to as targets. In the following we discuss two strategies with their respective advantages: (1) co-located and (2) nested design (Table III).…”

Section: Compound-marker Targetsmentioning

confidence: 99%

Marker-based tracking with unmanned aerial vehicles

Nitschke

2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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With the availability of low-cost micro aerial vehicles (MAVs), unmanned aerial vehicles (UAVs) quickly gain popularity and application potential. This requires techniques that can be understood by non-experts and flexibly applied for rapid prototyping. Visual tracking is an essential task with many applications, such as autonomous navigation and scene acquisition. While marker-less methods emerge, markerbased methods still have major advantages including simplicity, robustness, accuracy and performance. In practice, however, multi-marker setups introduce complexity and calibration efforts that can void the advantages. This work proposes a solution for practical, robust and easy-to-use marker-based tracking with independent compound targets. We introduce two novel target designs and describe pose estimation, noise removal and geometric transformations. The concepts are implemented in a tracking library for the Parrot AR.Drone 2.0. We explain its video access and camera calibration, and provide a first set of intrinsic parameters, jointly estimated from 14 units with high accuracy and low variance. The library is applied in a one-day contest on automatic visual navigation of UAVs, where students without technical background and programming skills achieved learning by experience and rapid development. This shows the effectiveness of combining capability with simplicity, and provides a case study on robotics in interdisciplinary education.

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Fractal marker fields: No more scale limitations for fiduciary markers

Cited by 12 publications

References 7 publications

Dedicated object processor for mobile augmented reality - sailor assistance case study

Dedicated object processor for mobile augmented reality - sailor assistance case study

A quadrocopter automatic control contest as an example of interdisciplinary design education

Marker-based tracking with unmanned aerial vehicles

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