High-Speed and Robust Monocular Tracking

In this paper, we present a system for high-speed robust monocular tracking (HSRM-Tracking) of active markers. The proposed algorithm robustly and accurately tracks multiple markers at full framerate of current high-speed cameras. For this, we have developed a novel, nearly co-planar marker pattern that can be identified without initialization or incremental tracking. The pattern also encodes a unique ID to identify different markers. The individual markers are calibrated semi-automatically, thus no time-consuming and error-prone manual measurement is needed. Finally we show that the minimal spatial structure of the marker can be used to robustly avoid pose ambiguities even at large distances to the camera. This allows us to measure the pose of each individual marker with high accuracy in a vast area.