AR Marker Removability Assessment for SLAM Stability
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Solution Overview
Problem
Existing AR and MR technologies face instability in estimating position and orientation when markers are removed, particularly if the distribution of features in captured images is insufficient, leading to destabilization of SLAM estimation.
Innovation Solution
An information processing apparatus that includes a marker detection unit, feature detection unit, estimation unit, stability obtaining unit, and determination unit to detect markers, assess feature stability, and determine whether markers are removable without destabilizing SLAM estimation by calculating differences in estimation results.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If markers are removed from the image to simplify the scene, then the complexity of the scene is reduced, but the stability of SLAM estimation deteriorates when feature distribution is insufficient
Solution Approach 1:
The system performs preliminary evaluation of marker removability by calculating stability metrics before actually removing markers. The stability obtaining unit computes estimation stability in advance, and the determination unit uses this pre-calculated information to decide whether markers can be safely removed, preventing destabilization before it occurs.
Solution Approach 2:
The system implements a feedback mechanism where the stability obtaining unit continuously monitors the stability of SLAM estimation, and this stability information is fed back to the determination unit which adjusts marker removal decisions accordingly. This closed-loop control ensures that marker removal does not compromise estimation stability.
2Ease of operation
If markers are removed to enable user recognition and removal, then the ease of operation is improved, but the reliability of position and orientation estimation deteriorates
Solution Approach 1:
The system performs preliminary stability assessment before allowing marker removal. The stability obtaining unit calculates estimation stability metrics in advance, and the determination unit uses these pre-computed values to identify which markers can be safely removed without compromising SLAM estimation, enabling users to make informed decisions.
Solution Approach 2:
The system provides feedback to users about marker removability based on stability calculations. The determination unit communicates which markers are safe to remove, giving users actionable information that balances ease of operation with maintenance of estimation reliability.
3Measurement precision
If feature detection is performed to assess stability, then the measurement precision is improved, but the loss of time increases due to additional processing
Solution Approach 1:
The system extracts only the essential stability metric from the full feature detection process. The stability obtaining unit focuses on computing the specific stability measure needed for marker removal decisions, rather than performing complete feature analysis, thereby reducing processing time while maintaining sufficient measurement precision for the task.
Data Source
AI summary
An information processing apparatus comprising: a marker detection unit configured to detect one or more markers from an image obtained by capturing a physical space by an image capturing unit; a feature detection unit configured to detect a feature from the image; an estimation unit configured to estimate a position and orientation of the image capturing unit based on a detection result obtained by the marker detection unit and a detection result obtained by the feature detection unit; a stability obtaining unit configured to obtain stability of estimation of the position and orientation when some markers of the one or more markers are removed; and a determination unit configured to determine, based on the stability, whether the some markers are removable.