Reflection-Aware Generation and Identification of Square Marker Dictionaries

Garrido-Jurado, Sergio; Garrido, Juan; Jurado-Rodríguez, David; Vázquez, Francisco; Muñoz-Salinas, Rafael

doi:10.3390/s22218548

Open AccessArticle

Reflection-Aware Generation and Identification of Square Marker Dictionaries

by

Sergio Garrido-Jurado

^1,*

,

Juan Garrido

²

,

David Jurado-Rodríguez

^1,3

,

Francisco Vázquez

²

and

Rafael Muñoz-Salinas

³

¹

Seabery R&D, Aldebarán Building, Córdoba Science and Technology Park, 14014 Córdoba, Spain

²

Department of Electrical Engineering and Automation, Rabanales Campus, University of Córdoba, 14071 Córdoba, Spain

³

Department of Computer Science and Numerical Analysis, Rabanales Campus, University of Córdoba, 14071 Córdoba, Spain

^*

Author to whom correspondence should be addressed.

Sensors 2022, 22(21), 8548; https://doi.org/10.3390/s22218548

Submission received: 30 August 2022 / Revised: 24 October 2022 / Accepted: 3 November 2022 / Published: 6 November 2022

(This article belongs to the Special Issue Sensor Based Perception for Field Robotics)

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Abstract

Square markers are a widespread tool to find correspondences for camera localization because of their robustness, accuracy, and detection speed. Their identification is usually based on a binary encoding that accounts for the different rotations of the marker; however, most systems do not consider the possibility of observing reflected markers. This case is possible in environments containing mirrors or reflective surfaces, and its lack of consideration is a source of detection errors, which is contrary to the robustness expected from square markers. This is the first work in the literature that focuses on reflection-aware square marker dictionaries. We present the derivation of the inter-marker distance of a reflection-aware dictionary and propose new algorithms for generating and identifying such dictionaries. Additionally, part of the proposed method can be used to optimize preexisting dictionaries to take reflection into account. The experimentation carried out demonstrates how our proposal greatly outperforms the most popular predefined dictionaries in terms of inter-marker distance and how the optimization process significantly improves them.

Keywords: square markers; fiducial markers; camera localization; object tracking; augmented reality

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MDPI and ACS Style

Garrido-Jurado, S.; Garrido, J.; Jurado-Rodríguez, D.; Vázquez, F.; Muñoz-Salinas, R. Reflection-Aware Generation and Identification of Square Marker Dictionaries. Sensors 2022, 22, 8548. https://doi.org/10.3390/s22218548

AMA Style

Garrido-Jurado S, Garrido J, Jurado-Rodríguez D, Vázquez F, Muñoz-Salinas R. Reflection-Aware Generation and Identification of Square Marker Dictionaries. Sensors. 2022; 22(21):8548. https://doi.org/10.3390/s22218548

Chicago/Turabian Style

Garrido-Jurado, Sergio, Juan Garrido, David Jurado-Rodríguez, Francisco Vázquez, and Rafael Muñoz-Salinas. 2022. "Reflection-Aware Generation and Identification of Square Marker Dictionaries" Sensors 22, no. 21: 8548. https://doi.org/10.3390/s22218548

APA Style

Garrido-Jurado, S., Garrido, J., Jurado-Rodríguez, D., Vázquez, F., & Muñoz-Salinas, R. (2022). Reflection-Aware Generation and Identification of Square Marker Dictionaries. Sensors, 22(21), 8548. https://doi.org/10.3390/s22218548

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

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Reflection-Aware Generation and Identification of Square Marker Dictionaries

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