Suivi de caméra à partir de marqueurs plans composés de cercles concentriques : paradigme et algorithmes

Lilian Calvet 1 Pierre Gurdjos 1 Vincent Charvillat 1 Simone Gasparini 2 Peter Sturm 2
2 PERCEPTION - Interpretation and Modelling of Images and Videos
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : In this paper we present a marker-based camera tracking with fiducial markers made up of a set of concentric circles. A set of concentric circles (C2Tag) is well suited to cope with the camera tracking problem : a C2Tag is very discriminatory in pictures, its detection is also possible in occluded cases and it can be identified by mean of a possible coding. In addition, its geometry is closely related to the euclidian structure of the support plane. We present the general paradigm of camera tracking based on two coplanar C2Tag and the different steps involved : detection, identification, adjustment, 2D reconstruction, calibration and 3D reconstruction. Our contribution focuses on the last step which consists of a bundle adjustment : we describe a minimal parametrization and a criterion which minimizes the distance between measured points and the ellipses constituting the marker. Experiments on synthetic data and real data confirm the performance of the proposed method.
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Lilian Calvet, Pierre Gurdjos, Vincent Charvillat, Simone Gasparini, Peter Sturm. Suivi de caméra à partir de marqueurs plans composés de cercles concentriques : paradigme et algorithmes. ORASIS - Congrès des jeunes chercheurs en vision par ordinateur, INRIA Grenoble Rhône-Alpes, Jun 2011, Praz-sur-Arly, France. ⟨inria-00596248⟩

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