Fiducial Objects: Custom Design and Evaluation
Camera pose estimation is vital in fields like robotics, medical imaging, and augmented reality. Fiducial markers, specifically ArUco and Apriltag, are preferred for their efficiency. However, their accuracy and viewing angle are limited when used as single markers. Custom fiducial objects have been...
| Autores: | ; ; ; ; |
|---|---|
| Tipo de documento: | Artículo |
| Fecha de publicación: | 2023 |
| País: | España |
| Institución: | Universidad Rey Juan Carlos |
| Repositorio: | BURJC-Digital. Repositorio Institucional de la Universidad Rey Juan Carlos |
| OAI Identifier: | oai:burjcdigital.urjc.es:10115/42217 |
| Acceso en línea: | https://hdl.handle.net/10115/42217 |
| Nivel de acceso: | Acceso abierto |
| Palabra clave: | fiducial object camera pose estimation fiducial marker |
| _version_ | 1878736744770174976 |
|---|---|
| author | García-Ruiz, Pablo |
| author2 | Romero-Ramirez, Francisco J. Muñoz-Salinas, Rafael Marín-Jiménez, Manuel J. Medina-Carnicer, Rafael |
| author2_role | author author author author |
| author_browse | García-Ruiz, Pablo Marín-Jiménez, Manuel J. Medina-Carnicer, Rafael Muñoz-Salinas, Rafael Romero-Ramirez, Francisco J. |
| author_facet | García-Ruiz, Pablo Romero-Ramirez, Francisco J. Muñoz-Salinas, Rafael Marín-Jiménez, Manuel J. Medina-Carnicer, Rafael |
| author_role | author |
| collection | BURJC-Digital. Repositorio Institucional de la Universidad Rey Juan Carlos |
| description | Camera pose estimation is vital in fields like robotics, medical imaging, and augmented reality. Fiducial markers, specifically ArUco and Apriltag, are preferred for their efficiency. However, their accuracy and viewing angle are limited when used as single markers. Custom fiducial objects have been developed to address these limitations by attaching markers to 3D objects, enhancing visibility from multiple viewpoints and improving precision. Existing methods mainly use square markers on non-square object faces, leading to inefficient space use. This paper introduces a novel approach for creating fiducial objects with custom-shaped markers that optimize face coverage, enhancing space utilization and marker detectability at greater distances. Furthermore, we present a technique for the precise configuration estimation of these objects using multiviewpoint images. We provide the research community with our code, tutorials, and an application to facilitate the building and calibration of these objects. Our empirical analysis assesses the effectiveness of various fiducial objects for pose estimation across different conditions, such as noise levels, blur, and scale variations. The results suggest that our customized markers significantly outperform traditional square markers, marking a positive advancement in fiducial marker-based pose estimation methods. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | ES_94957cdbfb6e60c8b8f60ff839c18cce |
| institution | Universidad Rey Juan Carlos |
| instname_str | Universidad Rey Juan Carlos |
| network_acronym_str | ES |
| network_name_str | España |
| oai_identifier_str | oai:burjcdigital.urjc.es:10115/42217 |
| publishDate | 2023 |
| publishDateSort | 2023 |
| publisher | MDPI |
| publisherStr | MDPI |
| reponame_str | BURJC-Digital. Repositorio Institucional de la Universidad Rey Juan Carlos |
| spelling | Fiducial Objects: Custom Design and Evaluation García-Ruiz, Pablo Romero-Ramirez, Francisco J. Muñoz-Salinas, Rafael Marín-Jiménez, Manuel J. Medina-Carnicer, Rafael fiducial object camera pose estimation fiducial marker Camera pose estimation is vital in fields like robotics, medical imaging, and augmented reality. Fiducial markers, specifically ArUco and Apriltag, are preferred for their efficiency. However, their accuracy and viewing angle are limited when used as single markers. Custom fiducial objects have been developed to address these limitations by attaching markers to 3D objects, enhancing visibility from multiple viewpoints and improving precision. Existing methods mainly use square markers on non-square object faces, leading to inefficient space use. This paper introduces a novel approach for creating fiducial objects with custom-shaped markers that optimize face coverage, enhancing space utilization and marker detectability at greater distances. Furthermore, we present a technique for the precise configuration estimation of these objects using multiviewpoint images. We provide the research community with our code, tutorials, and an application to facilitate the building and calibration of these objects. Our empirical analysis assesses the effectiveness of various fiducial objects for pose estimation across different conditions, such as noise levels, blur, and scale variations. The results suggest that our customized markers significantly outperform traditional square markers, marking a positive advancement in fiducial marker-based pose estimation methods. MDPI https://hdl.handle.net/10115/42217 |
| spellingShingle | Fiducial Objects: Custom Design and Evaluation García-Ruiz, Pablo fiducial object camera pose estimation fiducial marker |
| title | Fiducial Objects: Custom Design and Evaluation |
| title_full | Fiducial Objects: Custom Design and Evaluation |
| title_fullStr | Fiducial Objects: Custom Design and Evaluation |
| title_full_unstemmed | Fiducial Objects: Custom Design and Evaluation |
| title_short | Fiducial Objects: Custom Design and Evaluation |
| title_sort | Fiducial Objects: Custom Design and Evaluation |
| topic | fiducial object camera pose estimation fiducial marker |
| topic_facet | fiducial object camera pose estimation fiducial marker |
| url | https://hdl.handle.net/10115/42217 |