A performance study for camera pose estimation using visual marker based tracking

摘要

Vision-based tracking systems are widely used for augmented reality (AR) applications. Their registration can be very accurate and there is no delay between real and virtual scene. However, vision-based tracking often suffers from limited range, errors, heavy processing time and present erroneous behavior due to numerical instability. To address these shortcomings, robust method are required to overcome these problems. In this paper, we survey classic vision-based pose computations and present a method that offers increased robustness and accuracy in the context of real-time AR tracking. In this work, we aim to determine the performance of four pose estimation methods in term of errors and execution time. We developed a hybrid approach that mixes an iterative method based on the extended Kalman filter (EKF) and an analytical method with direct resolution of pose parameters computation. The direct method initializes the pose parameters of the EKF algorithm which performs an optimization of these parameters thereafter. An evaluation of the pose estimation methods was obtained using a series of tests and an experimental protocol. The analysis of results shows that our hybrid algorithm improves stability, convergence and accuracy of the pose parameters.