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Robust 3D object tracking with X-Triplet markers:A machine learning-based approach 认领 引用
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作者 Cai Meng Yue Zeng +2 位作者 Hongbin Shen Xinliang Deng Diansheng Chen 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2026年第2期145-154,共10页
Object tracking in 3D space is a classical problem in computer vision.In this paper,an efficient and robust X-Triplet detection method is proposed based on the support vector machine(SVM) and an adjacent matrix for lo... Object tracking in 3D space is a classical problem in computer vision.In this paper,an efficient and robust X-Triplet detection method is proposed based on the support vector machine(SVM) and an adjacent matrix for locating and tracking objects through stereo vision with minimal feature points.The X-Triplet,denoted as Tri-X,is a composite marker consisting of three sequential X-corners.The definition and types of Tri-X markers are introduced at first.Then a fast and robust X-corner detector based on the block search strategy and SVM is proposed to extract X-corner candidates with sub-pixel locations and orientations.Thereafter the X-corner adjacent matrix(XAM) is constructed using the orientation angle error to describe the possibility that any X-corner pair form a valid edge vector.The Tri-X candidates are then extracted efficiently from the XAM.Finally once the Tri-X markers are detected in binocular images,their 6D pose information can be recovered through stereo matching and triangulation technique.When multiple targets are involved simultaneously,different Tri-X markers can be utilized to identify different objects.Experimental results show that the proposed method outperformed the state-of-the-art in terms of both accuracy and efficiency for Tri-X marker detection.In localization precision test,it achieved 0.1 mm error for the position and 1° error for the orientation.Our method exhibits great potential for utilization in user-defined specific tracking tasks,offering flexibility and adaptability to various tracking requirements,especially multi-tool tracking in medical robotics. 展开更多
关键词 Object tracking Localization Tri-X composite marker Support vector machine X-corner adjacent matrix
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