Publication Details

Uniform Marker Fields: Camera Localization By Orientable De Bruijn Tori

SZENTANDRÁSI István, ZACHARIÁŠ Michal, HAVEL Jiří, HEROUT Adam, DUBSKÁ Markéta and KAJAN Rudolf. Uniform Marker Fields: Camera Localization By Orientable De Bruijn Tori. In: Proceedings of the 2012 11th IEEE International Symposium on Mixed and Augmented Reality. Atlatnta, Georgia: Institute of Electrical and Electronics Engineers, 2012, pp. 1-2. ISBN 978-1-4673-4661-0.
Czech title
Uniform Marker Fields: Lokalizace kamery na základě orientovatelných De Bruijn sekvencí
Type
conference paper
Language
english
Authors
Szentandrási István, Ing. (DCGM FIT BUT)
Zachariáš Michal, Ing., Ph.D. (DCGM FIT BUT)
Havel Jiří, Ing., Ph.D. (DCGM FIT BUT)
Herout Adam, prof. Ing., Ph.D. (DCGM FIT BUT)
Dubská Markéta, Ing., Ph.D. (DCGM FIT BUT)
Kajan Rudolf, Ing. (DCGM FIT BUT)
Keywords

Fiduciary Markers, Nested Marker, Seamless Marker, Overlapping Markers, Camera Localization, Augmented Reality, De-Bruijn Tori, Genetic Algorithm, Perfect Maps, UMF

Abstract

In various applications, a wider area needs to be covered by fiduciary markers but a large marker cannot be used because only a fraction of the area is to be viewed by the camera. Such an area can be covered by a number of small markers with unique identifiers. However, with the camera freely moving in the scene and with occluders present, it is difficult to ensure that at least one of the individual markers is completely visible, unless the markers are small and numerous. In that case, the markers are not recognizable from larger distances.

In this paper we introduce the concept of Marker Fields which overcome this limitation. The Marker Field covers a large-scale planar (or non-planar) area and it is composed of mutually overlapping partial markers. We propose a particular arrangement of the Marker Field: a Uniform Checker-Board Marker Field, which is a black-and-white checkerboard whose square modules are defined by aperiodic 4-orientable binary (n,n)-window arrays (De Bruijn tori). We propose a genetic algorithm for construction of 4-orientable (n,n)-window arrays.

We used a supercomputer to synthesize large 4-orientable (n,n)-window arrays and offer them publicly for downloading. We prototyped an algorithm for detection of the checkerboard marker fields and measured its performance. When processing input video from a cellphone camera, the algorithm visits only about 5% of image pixels for reliable detection and the processing time is about 1ms on a mid-range PC processor.

The Uniform Marker Field increases freedom of camera movement, especially with occluders present in the scene. The detection algorithm is efficient and real-time marker field detection will be feasible on ultramobile devices.

Published
2012
Pages
1-2
Proceedings
Proceedings of the 2012 11th IEEE International Symposium on Mixed and Augmented Reality
Conference
11th IEEE International Symposium on Mixed and Augmented Reality, Atlanta, Georgia, US
ISBN
978-1-4673-4661-0
Publisher
Institute of Electrical and Electronics Engineers
Place
Atlatnta, Georgia, US
BibTeX 
@INPROCEEDINGS{FITPUB10122,
   author = "Istv\'{a}n Szentandr\'{a}si and Michal Zachari\'{a}\v{s} and Ji\v{r}\'{i} Havel and Adam Herout and Mark\'{e}ta Dubsk\'{a} and Rudolf Kajan",
   title = "Uniform Marker Fields: Camera Localization By Orientable De Bruijn Tori",
   pages = "1--2",
   booktitle = "Proceedings of the 2012 11th IEEE International Symposium on Mixed and Augmented Reality",
   year = 2012,
   location = "Atlatnta, Georgia, US",
   publisher = "Institute of Electrical and Electronics Engineers",
   ISBN = "978-1-4673-4661-0",
   language = "english",
   url = "https://www.fit.vut.cz/research/publication/10122"
}
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