LFTag: A Scalable Visual Fiducial System with Low Spatial Frequency

06/01/2020
by   Ben Wang, et al.
2

Visual fiducial systems are a key component of many robotics and AR/VR applications for 6-DOF monocular relative pose estimation and target identification. This paper presents LFTag, a visual fiducial system based on topological detection and relative position data encoding which optimizes data density within spatial frequency constraints. The marker is constructed to resolve rotational ambiguity, which combined with the robust geometric and topological false positive rejection, allows all marker bits to be used for data. When compared to existing state-of-the-art square binary markers (AprilTag) and topological markers (TopoTag) in simulation, the proposed fiducial system (LFTag) offers significant advances in dictionary size and range. LFTag 3x3 achieves 546 times the dictionary size of AprilTag 25h9 and LFTag 4x4 achieves 126 thousand times the dictionary size of AprilTag 41h12 while simultaneously achieving longer detection range. LFTag 3x3 also achieves more than twice the detection range of TopoTag 4x4 at the same dictionary size.

READ FULL TEXT

page 1

page 2

page 3

page 5

page 6

research
08/05/2019

TopoTag: A Robust and Scalable Topological Fiducial Marker System

Fiducial markers have been playing an important role in augmented realit...
research
11/29/2014

A Bayesian Framework for Sparse Representation-Based 3D Human Pose Estimation

A Bayesian framework for 3D human pose estimation from monocular images ...
research
04/02/2021

End-to-end learning of keypoint detection and matching for relative pose estimation

We propose a new method for estimating the relative pose between two ima...
research
01/23/2021

Real-Time, Flight-Ready, Non-Cooperative Spacecraft Pose Estimation Using Monocular Imagery

A key requirement for autonomous on-orbit proximity operations is the es...
research
04/20/2022

Learned Monocular Depth Priors in Visual-Inertial Initialization

Visual-inertial odometry (VIO) is the pose estimation backbone for most ...
research
06/18/2012

On the Size of the Online Kernel Sparsification Dictionary

We analyze the size of the dictionary constructed from online kernel spa...
research
09/18/2014

Pedestrian Detection with Spatially Pooled Features and Structured Ensemble Learning

Many typical applications of object detection operate within a prescribe...

Please sign up or login with your details

Forgot password? Click here to reset