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Large-Scale Indoor Camera Positioning Using Fiducial Markers.

Pablo García-Ruiz1, Francisco J Romero-Ramirez2, Rafael Muñoz-Salinas1,3

  • 1Departamento de Informática y Análisis Numérico, Edificio Einstein, Campus de Rabanales, Universidad de Coŕdoba, 14071 Córdoba, Spain.

Sensors (Basel, Switzerland)
|July 13, 2024
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Summary
This summary is machine-generated.

This study presents a new method for estimating indoor camera poses using paper fiducial markers. This approach improves accuracy for applications like augmented reality and autonomous navigation.

Keywords:
camera pose estimationfiducial markerindoor camera positioningvideo surveillance

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Area of Science:

  • Computer Vision
  • Robotics
  • Photogrammetry

Background:

  • Accurate indoor camera pose estimation is crucial for augmented reality, autonomous navigation, and surveillance.
  • Existing methods struggle with reliance on distinct features, large overlapping views, and specific environmental conditions.

Purpose of the Study:

  • To develop a robust and scalable method for estimating the poses of multiple fixed indoor cameras.
  • To overcome limitations of current techniques by utilizing simple fiducial markers.

Main Methods:

  • A novel approach using a small set of fiducial markers on paper to establish pairwise camera relationships.
  • Markers are strategically placed and moved to build a connected graph of all cameras.
  • Final pose optimization minimizes reprojection errors and enforces physical constraints like coplanarity.

Main Results:

  • The proposed method demonstrates superior performance compared to state-of-the-art techniques.
  • Experiments on artificial and real datasets show increased effectiveness in practical scenarios.
  • Validated approach with varying complexity levels.

Conclusions:

  • The fiducial marker-based method offers a practical and effective solution for large-scale indoor camera pose estimation.
  • The approach enhances accuracy and applicability in real-world systems.
  • Open-sourced code and tutorials are provided to facilitate community adoption.