Seabery R&D, Aldebarán Building, Córdoba Science and Technology Park, 14014 Córdoba, Spain.
Department of Electrical Engineering and Automation, Rabanales Campus, University of Córdoba, 14071 Córdoba, Spain.
Sensors (Basel). 2022 Nov 6;22(21):8548. doi: 10.3390/s22218548.
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.
方形标记是一种广泛用于相机定位对应关系的工具，因为它们具有鲁棒性、准确性和检测速度。它们的识别通常基于二进制编码，以考虑标记的不同旋转；然而，大多数系统没有考虑到观察反射标记的可能性。这种情况在包含镜子或反射面的环境中是可能的，并且不考虑这种情况是检测错误的一个来源，这与人们对方形标记的鲁棒性的期望背道而驰。这是文献中首次专注于反射感知方形标记字典的工作。我们介绍了反射感知字典中标记间距离的推导，并提出了生成和识别这种字典的新算法。此外，所提出方法的一部分可用于优化预定义字典以考虑反射。所进行的实验表明，我们的建议在标记间距离方面如何大大优于最流行的预定义字典，以及优化过程如何显著改善它们。
