Event-Based high-speed low-latency fiducial marker tracking

• URL: http://arxiv.org/abs/2110.05819v1
• Date: Tue, 12 Oct 2021 08:34:31 GMT
• Title: Event-Based high-speed low-latency fiducial marker tracking
• Authors: Adam Loch, Germain Haessig, Markus Vincze
• Abstract summary: We propose an end-to-end pipeline for real-time, low latency, 6 degrees-of-freedom pose estimation of fiducial markers. We employ the high-speed abilities of event-based sensors to directly refine the spatial transformation. This approach allows us to achieve pose estimation at a rate up to 156kHz, while only relying on CPU resources.
• Score: 15.052022635853799
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Motion and dynamic environments, especially under challenging lighting conditions, are still an open issue for robust robotic applications. In this paper, we propose an end-to-end pipeline for real-time, low latency, 6 degrees-of-freedom pose estimation of fiducial markers. Instead of achieving a pose estimation through a conventional frame-based approach, we employ the high-speed abilities of event-based sensors to directly refine the spatial transformation, using consecutive events. Furthermore, we introduce a novel two-way verification process for detecting tracking errors by backtracking the estimated pose, allowing us to evaluate the quality of our tracking. This approach allows us to achieve pose estimation at a rate up to 156~kHz, while only relying on CPU resources. The average end-to-end latency of our method is 3~ms. Experimental results demonstrate outstanding potential for robotic tasks, such as visual servoing in fast action-perception loops.

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