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Object Localization with Multiplanar Fiducial Markers: Accurate Pose Estimation

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Pattern Recognition and Image Analysis (IbPRIA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 14062))

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Abstract

Accurate object tracking is an important task in applications such as augmented/virtual reality and tracking of surgical instruments. This paper presents a novel approach for object pose estimation using a dodecahedron with pentagonal fiducial markers. Unlike traditional ArUco markers, which are squared, we propose a pentagonal marker that fits better in the dodecahedron figure. Our proposal improves marker detectability and enhances pose estimation with a novel pose refinement algorithm. Our experiments show the system’s performance and the refinement algorithm’s efficacy under different configurations.

Supported by the MCIN Project TED2021-129151B-I00/AEI/10.13039/ 501100011033/ European Union NextGenerationEU/PRTR, project PID2019-103871GB-I00 of the Spanish Ministry of Economy, Industry and Competitiveness, and project PAIDI P20_00430 of the Junta de Andalucía, FEDER.

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Notes

  1. 1.

    https://sourceforge.net/projects/doducopose/.

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Author information

Authors and Affiliations

  1. Department of Computing and Numerical Analysis, University of Córdoba, Córdoba, Spain

    Pablo García-Ruiz, Rafael Muñoz-Salinas, Rafael Medina-Carnicer & Manuel J. Marín-Jiménez

  2. Maimonides Institute for Biomedical Research of Córdoba (IMIBIC), Córdoba, Spain

    Rafael Muñoz-Salinas, Rafael Medina-Carnicer & Manuel J. Marín-Jiménez

Authors
  1. Pablo García-Ruiz
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  2. Rafael Muñoz-Salinas
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  3. Rafael Medina-Carnicer
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  4. Manuel J. Marín-Jiménez
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Corresponding author

Correspondence to Pablo García-Ruiz .

Editor information

Editors and Affiliations

  1. University of Alicante, Alicante, Spain

    Antonio Pertusa

  2. University of Alicante, Alicante, Spain

    Antonio Javier Gallego

  3. Universitat Politècnica de València, Valencia, Spain

    Joan Andreu Sánchez

  4. IPO Porto, Coimbra, Portugal

    Inês Domingues

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García-Ruiz, P., Muñoz-Salinas, R., Medina-Carnicer, R., Marín-Jiménez, M.J. (2023). Object Localization with Multiplanar Fiducial Markers: Accurate Pose Estimation. In: Pertusa, A., Gallego, A.J., Sánchez, J.A., Domingues, I. (eds) Pattern Recognition and Image Analysis. IbPRIA 2023. Lecture Notes in Computer Science, vol 14062. Springer, Cham. https://doi.org/10.1007/978-3-031-36616-1_36

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  • DOI: https://doi.org/10.1007/978-3-031-36616-1_36

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