AprilTag: A robust and flexible visual fiducial system

While the use of naturally-occurring features is a central focus of machine perception, artificial features (fiducials) play an important role in creating controllable experiments, ground truthing, and in simplifying the development of systems where perception is not the central objective. We describe a new visual fiducial system that uses a 2D bar code style “tag”, allowing full 6 DOF localization of features from a single image. Our system improves upon previous systems, incorporating a fast and robust line detection system, a stronger digital coding system, and greater robustness to occlusion, warping, and lens distortion. While similar in concept to the ARTag system, our method is fully open and the algorithms are documented in detail.

[1]  Ramesh Raskar,et al.  Bokode: imperceptible visual tags for camera based interaction from a distance , 2009, ACM Trans. Graph..

[2]  Ming-Syan Chen,et al.  Image stablization for 2D barcode in handheld devices , 2007, ACM Multimedia.

[3]  Bernhard P. Wrobel,et al.  Multiple View Geometry in Computer Vision , 2001 .

[4]  Andrew Zisserman,et al.  Multiple View Geometry in Computer Vision (2nd ed) , 2003 .

[5]  Gregory Dudek,et al.  Sensor-Based Behavior Control for an Autonomous Underwater Vehicle , 2006, ISER.

[6]  Nikolaus Correll,et al.  SwisTrack - a flexible open source tracking software for multi-agent systems , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[7]  Y. Yamamoto,et al.  Optical sensing for robot perception and localization , 2005, IEEE Workshop on Advanced Robotics and its Social Impacts, 2005..

[8]  José Remo Ferreira Brega,et al.  A motion capture system using passive markers , 2004, VRCAI '04.

[9]  Mark Fiala.  A Robot Control and Augmented Reality Interface for Multiple Robots , 2009, 2009 Canadian Conference on Computer and Robot Vision.

[10]  Devi Parikh,et al.  Localization and Segmentation of A 2D High Capacity Color Barcode , 2008, 2008 IEEE Workshop on Applications of Computer Vision.

[11]  Dieter Schmalstieg,et al.  Making Augmented Reality Practical on Mobile Phones, Part 1 , 2009, IEEE Computer Graphics and Applications.

[12]  Hirokazu Kato,et al.  Marker tracking and HMD calibration for a video-based augmented reality conferencing system , 1999, Proceedings 2nd IEEE and ACM International Workshop on Augmented Reality (IWAR'99).

[13]  Deutsches Zentrum Für Luft Und Raumfahrt.  DLR-Jahresfilm 2012 , 2012 .

[14]  Tack-Don Han,et al.  Tag detection algorithm for improving the instability problem of an augmented reality , 2006, 2006 IEEE/ACM International Symposium on Mixed and Augmented Reality.

[15]  Carlos Eduardo Pereira,et al.  A real-time low-cost marker-based multiple camera tracking solution for virtual reality applications , 2009, Journal of Real-Time Image Processing.

[16]  G LoweDavid,et al.  Distinctive Image Features from Scale-Invariant Keypoints , 2004 .

[17]  Mark Fiala,et al.  ARTag, a fiducial marker system using digital techniques , 2005, 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05).

[18]  Mark Fiala.  Vision guided control of multiple robots , 2004, First Canadian Conference on Computer and Robot Vision, 2004. Proceedings..

[19]  Antonio Torralba,et al.  LabelMe: A Database and Web-Based Tool for Image Annotation , 2008, International Journal of Computer Vision.

[20]  Richard A. Brualdi,et al.  Greedy Codes , 1993, J. Comb. Theory, Ser. A.

[21]  Ronald L. Rivest,et al.  Introduction to Algorithms , 1990 .

[22]  Gregory Dudek,et al.  Fourier tags: Smoothly degradable fiducial markers for use in human-robot interaction , 2007, Fourth Canadian Conference on Computer and Robot Vision (CRV '07).

[23]  Dieter Schmalstieg,et al.  Pose tracking from natural features on mobile phones , 2008, 2008 7th IEEE/ACM International Symposium on Mixed and Augmented Reality.

[24]  Tom Duff,et al.  Matrix animation and polar decomposition , 1992 .

[25]  James McLurkin,et al.  Analysis and implementation of distributed algorithms for multi-robot systems , 2008 .

[26]  Pieter Peers,et al.  SubEdit: a representation for editing measured heterogeneous subsurface scattering , 2009, SIGGRAPH 2009.