论文标题
LFTAG：具有低空间频率的可扩展视觉基准系统
LFTag: A Scalable Visual Fiducial System with Low Spatial Frequency
论文作者
论文摘要
视觉基准系统是许多机器人技术和AR/VR应用的关键组成部分，用于6-DOF单眼相对姿势估计和目标识别。本文介绍了LFTAG，这是一种基于拓扑检测和相对位置数据编码的视觉基准系统，可在空间频率约束中优化数据密度。构建标记以解决旋转歧义，并结合强大的几何和拓扑假阳性拒绝，允许所有标记位用于数据。 与现有的最先进的方形二进制标记（APRILTAG）和拓扑标记（TOPOTAG）相比，拟议的基准系统（LFTAG）在字典大小和范围方面提供了重大进展。 LFTAG 3x3达到了Apriltag 25H9的字典大小的546倍，而LFTAG 4x4的字典达到了Apriltag 41H12的词典大小的12.6千倍，同时达到了更长的检测范围。 LFTAG 3x3在相同的字典大小下的检测范围也是两倍以上。
Visual fiducial systems are a key component of many robotics and AR/VR applications for 6-DOF monocular relative pose estimation and target identification. This paper presents LFTag, a visual fiducial system based on topological detection and relative position data encoding which optimizes data density within spatial frequency constraints. The marker is constructed to resolve rotational ambiguity, which combined with the robust geometric and topological false positive rejection, allows all marker bits to be used for data. When compared to existing state-of-the-art square binary markers (AprilTag) and topological markers (TopoTag) in simulation, the proposed fiducial system (LFTag) offers significant advances in dictionary size and range. LFTag 3x3 achieves 546 times the dictionary size of AprilTag 25h9 and LFTag 4x4 achieves 126 thousand times the dictionary size of AprilTag 41h12 while simultaneously achieving longer detection range. LFTag 3x3 also achieves more than twice the detection range of TopoTag 4x4 at the same dictionary size.
