1. Monocular Model-Based 3D Tracking of Rigid Objects: A Survey 2008. 12. 11.백운혁 Chapter 3. Fiducial-Based Tracking

3. Agenda Monocular Model-Based 3D Tracking of Rigid Objects : A Survey Chapter 3. Fiducial-Based Tracking 3.1 Point Fiducials 3.2 Planar Fiducials

4. 3.1 Point Fiducial The 3D positions of the fiducials in the world coordinate system are assumed to be precisely known

5. 3.1 Point Fiducial circular fiducials work best invariant under perspective distortion

6. 3.1 Point Fiducial circular fiducials work best easily be determined with sub-pixel accuracy color-coded fiducials for an identification can be estimated up to sub-pixel accuracy

7. 3.2 Planar Fiducials

8. 3.2 Planar Fiducials squared, black on white, fiducials four corners of such fiducials provides correspondence it yields a robust, low-cost solution for real-time 3D tracking

9. 3.2 Planar Fiducials 1. black border on a white background to facilitate the detection 1. the image is binarized 2. straight line and corner detection 2. An inner pattern allows the identification 1. compare it by template matching with the known patterns 3. estimating the homography If the internal parameters of the camera are known, the camera pose can be recovered from

10. Thanks for your attention