複数のARマーカを用いた移動体3次元追跡システム

光学式モーションキャプチャなしでどこでも簡単に移動体の3次元経路計測を行う方法

抄録

We have developed a portable measuring system that allows for easy 3D 6DOF tracking of moving objects anywhere. In this system, we install multiple high-accuracy fiducial markers, which are an improved version of the commonly used AR markers, in the measurement target and environment, and capture them with a few cameras. This enables easy 3D tracking of moving objects. During measurement, essential tasks such as setting up the world coordinate system, determining the camera pose, calculating the relative pose between markers, occlusion handling, and data integration in the world coordinate system are all performed automatically using only the marker and image data captured by the cameras. In this paper, we present an overview of the system, details of the data processing, and an evaluation of measurement accuracy using an optical motion capture.