Fiducial Marker Grid Pattern for Warped Surface Detection
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Solution Overview
Problem
Prior art fiducial marker systems face detection failures due to distorted or blocked square-shaped black borders, especially in rough environments and when attached to warped or uneven surfaces, and have limited coding space due to the border's size.
Innovation Solution
A fiducial marker system with a grid pattern of uniform cells, where the detection area consists of interconnected dark cells along the edges, allowing for robust detection even under distortion and occlusion, and optimizing coding space by reducing the border's area.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a square-shaped black border is used for tag detection, then tag detection can be achieved, but the detection fails when the border is distorted or blocked
Solution Approach 1:
The tag is segmented into multiple dark cells arranged in a grid pattern, where each cell serves as an independent detection unit. This segmentation allows the detection algorithm to identify the tag even when some cells are occluded or distorted, as long as enough cells remain visible to reconstruct the tag's position and orientation.
Solution Approach 2:
The invention transitions from detecting a continuous square border (1D perimeter) to detecting discrete dark cells (2D grid pattern). This dimensional change provides redundancy, as multiple cells can confirm the tag's presence and properties even when individual cells are occluded, significantly improving robustness against partial blockage and distortion.
2Reliability
If a square-shaped black border is used for tag detection, then tag detection can be achieved, but the coding space is limited due to the border's size
Solution Approach 1:
The border is segmented into discrete dark cells that are minimally sized to maintain detection functionality. This segmentation reduces the total area occupied by the border compared to a continuous square border, thereby increasing the available coding space within the tag while maintaining detection reliability through the distributed cell pattern.
Solution Approach 2:
The invention changes the parameter of border representation from a continuous thick line to a sparse distribution of small dark cells. This parameter change reduces the border's area occupation while maintaining its detection function, allowing more space for coding information within the tag boundaries.
3Adaptability or versatility
If the tag is attached to warped or uneven surfaces, then the tag can be used in rough environments, but the square border becomes distorted and detection fails
Solution Approach 1:
The continuous border is segmented into multiple independent dark cells distributed across the tag. When the tag is warped or bent, these segmented cells can independently maintain their dark color property even if their positions shift or shapes distort, allowing the detection algorithm to still identify and locate the tag successfully.
Solution Approach 2:
The detection approach moves from relying on the geometric integrity of a continuous border to detecting the spatial distribution pattern of discrete dark cells. This dimensional change makes the detection more tolerant to warping and distortion, as the cell pattern can be recognized even when individual cell positions are displaced due to surface irregularities.
Data Source
AI summary
The present invention discloses fiducial marker systems or tag systems and methods to detect and decode a tag. In one aspect, a tag comprises four corners. Two upper corners are interconnected to form a detection area. Two lower corners are interconnected to form another detection area. The detection areas are interconnected by a path. The path divides the space between the detection areas into two coding areas. In another aspect, a tag comprises four corners. The four corners are interconnected by multiple paths. The multiple paths divide the space defined by the four corners into multiple coding areas.