Publication Details

Five Shades of Grey for Fast and Reliable Camera Pose Estimation

HEROUT, A.; SZENTANDRÁSI, I.; ZACHARIÁŠ, M.; JURÁNKOVÁ, M.; KAJAN, R. Five Shades of Grey for Fast and Reliable Camera Pose Estimation. Proceedings of CVPR. Portland, OR: IEEE Computer Society, 2013. p. 1384-1390. ISBN: 978-0-7695-4989-7.
Czech title
Pět odstínů šedé pro rychlé a spolehlivé určení pozice kamery
Type
conference paper
Language
English
Authors
Herout Adam, prof. Ing., Ph.D. (DCGM)
Szentandrási István, Ing., Ph.D.
Zachariáš Michal, Ing., Ph.D. (DCGM)
Juránková Markéta, Ing., Ph.D. (DCGM)
Kajan Rudolf, Ing., Ph.D.
Keywords

Fiduciary Markers, Uniform Marker Field, Checkerboard Detection, Seamless Marker, Overlapping Markers, Camera Localization, Augmented Reality, De-Bruijn Tori, Perfect Maps, Real-Time AR Localization, Visually Appealing Markers, Tolerance to Global/Local Lighting Conditions

Abstract

We introduce here an improved design of the Uniform Marker Fields and an algorithm for their fast and reliable detection. Our concept of the marker field is designed so that it can be detected and recognized for camera pose esti- mation: in various lighting conditions, under a severe per- spective, while heavily occluded, and under a strong motion blur. Our marker field detection harnesses the fact that the edges within the marker field meet at two vanishing points and that the projected planar grid of squares can be defined by a detectable mathematical formalism. The modules of the grid are greyscale and the locations within the marker field are defined by the edges between the modules. The assumption that the marker field is planar allows for a very cheap and reliable camera pose estimation in the captured scene. The detection rates and accuracy are slightly better compared to state-of-the-art marker-based solutions. At the same time, and more importantly, our de- tector of the marker field is several times faster and the re- liable real-time detection can be thus achieved on mobile and low-power devices. We show three targeted applica- tions where the planarity is assured and where the presented marker field design and detection algorithm provide a reliable and extremely fast solution.

Published
2013
Pages
1384–1390
Proceedings
Proceedings of CVPR
ISBN
978-0-7695-4989-7
Publisher
IEEE Computer Society
Place
Portland, OR
BibTeX 
@inproceedings{BUT103477,
  author="Adam {Herout} and István {Szentandrási} and Michal {Zachariáš} and Markéta {Juránková} and Rudolf {Kajan}",
  title="Five Shades of Grey for Fast and Reliable Camera Pose Estimation",
  booktitle="Proceedings of CVPR",
  year="2013",
  pages="1384--1390",
  publisher="IEEE Computer Society",
  address="Portland, OR",
  isbn="978-0-7695-4989-7"
}
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