ChromaTag: A Colored Marker and Fast Detection Algorithm
This addresses the need for efficient marker detection in real-time applications like robot navigation, where computational resources are limited, though it appears incremental as it builds on existing marker-based approaches.
The paper tackles the problem of slow false positive rejection in fiducial marker detection by introducing ChromaTag, a colored marker and fast detection algorithm that uses opponent colors to quickly reject false detections and grayscale for precise localization, resulting in significantly faster detection while maintaining similar or better accuracy.
Current fiducial marker detection algorithms rely on marker IDs for false positive rejection. Time is wasted on potential detections that will eventually be rejected as false positives. We introduce ChromaTag, a fiducial marker and detection algorithm designed to use opponent colors to limit and quickly reject initial false detections and grayscale for precise localization. Through experiments, we show that ChromaTag is significantly faster than current fiducial markers while achieving similar or better detection accuracy. We also show how tag size and viewing direction effect detection accuracy. Our contribution is significant because fiducial markers are often used in real-time applications (e.g. marker assisted robot navigation) where heavy computation is required by other parts of the system.