Detection of Binary Square Fiducial Markers Using an Event Camera

  title={Detection of Binary Square Fiducial Markers Using an Event Camera},
  author={Hamid Sarmadi and Rafael Mu{\~n}oz-Salinas and Miguel Angel Olivares-M{\'e}ndez and Rafael Medina-Carnicer},
  journal={IEEE Access},
Event cameras are a new type of image sensors that output changes in light intensity (events) instead of absolute intensity values. They have a very high temporal resolution and a high dynamic range. In this paper, we propose a method to detect and decode binary square markers using an event camera. We detect the edges of the markers by detecting line segments in an image created from events in the current packet. The line segments are combined to form marker candidates. The bit value of marker… 
1 Citations
Event-Based high-speed low-latency fiducial marker tracking
This paper proposes an endto-end pipeline for real-time, low latency, 6 degrees-of-freedom pose estimation of fiducial markers, and introduces a novel two-way verification process for detecting tracking errors by backtracking the estimated pose, allowing us to evaluate the quality of the authors' tracking.


Fast event-based Harris corner detection exploiting the advantages of event-driven cameras
An event- based approach to the detection of corner points, which benefits from the high temporal resolution, compressed visual information and low latency provided by an asynchronous neuromorphic event-based camera, and achieves a detection rate proportional to speed, higher than frame-based technique for a significant amount of motion in the scene, while also reducing the computational cost.
Practical high-speed motion sensing: event cameras vs. global shutter
We designed two maximally simplified and controlled experiments to test event-based and frame-based cameras in the price category affordable for an ordinary university research lab. First, we put
ARTag, a fiducial marker system using digital techniques
  • M. Fiala
  • Computer Science
    2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05)
  • 2005
This proposed new marker system, ARTag has very low and numerically quantifiable error rates, does not require a grey scale threshold as does other marker systems, and can encode up to 2002 different unique ID's with no need to store patterns.
Simultaneous Mosaicing and Tracking with an Event Camera
This work shows for the first time that an event stream, with no additional sensing, can be used to track accurate camera rotation while building a persistent and high quality mosaic of a scene which is super-resolution accurate and has high dynamic range.
Simultaneous Optical Flow and Intensity Estimation from an Event Camera
This work proposes, to the best of the knowledge, the first algorithm to simultaneously recover the motion field and brightness image, while the camera undergoes a generic motion through any scene, within a sliding window time interval.
Direct face detection and video reconstruction from event cameras
This work proposes and develops a patch-based model for the event streams acquired from event cameras, and demonstrates the first direct face detection from event streams, highlighting the potential of these event-based cameras for power-efficient vision applications.
Dynamic stereo vision system for real-time tracking
This paper contributes with presenting and demonstrating a tracking algorithm using the 3D sensing technology based on the stereo dynamic vision sensor capable of detecting and tracking persons within a 4m range at an effective refresh rate of the depth map of up to 200 per second.
Event-Based Moving Object Detection and Tracking
This paper presents a novel event stream representation which enables us to utilize information about the dynamic (temporal)component of the event stream, and demonstrates the framework on the task of independent motion detection and tracking, where it is used to locate differently moving objects in challenging situations of very fast motion.
Simultaneous Multi-View Camera Pose Estimation and Object Tracking With Squared Planar Markers
The proposed method is a step forward in the development of cost-effective solutions for object tracking by automatically obtaining the three-dimensional configuration of the markers, the extrinsic parameters of the cameras, and the relative pose between the markers and the cameras at each frame.