Multi-scale Fiducials for Distance-adaptive Target Tracking
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Solution Overview
Problem
Existing fiducial recognition systems face challenges in varying distances, as scale-invariant algorithms are not always feasible due to processing power limitations, and traditional fiducials do not account for changes in size and position effectively.
Innovation Solution
The use of multi-scale fiducials, comprising a parent, child, and grandchild fiducials of varying sizes and positions, where each scale can independently determine relative positions and encode information, allowing for scale-variant recognition algorithms to compensate for changes in distance and visibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional single-scale fiducials are used, then the system is simple to implement, but the recognition accuracy deteriorates when distance varies causing scale changes
Solution Approach 1:
The patent implements multi-scale fiducials where smaller fiducial instances are nested within or associated with larger ones, creating a hierarchical structure. Each scale level contains fiducial markers that can be independently detected, allowing the system to recognize the fiducial at appropriate scales regardless of distance, thereby maintaining recognition accuracy without requiring complex scale-invariant algorithms.
Solution Approach 2:
The patent extends the fiducial structure from a single scale (one dimension of size) to multiple scales (adding a dimensional aspect of size variation). By incorporating fiducial markers at different size levels within the same fiducial structure, the system gains the ability to handle scale changes due to distance variations, improving measurement precision across varying distances.
2Measurement precision
If scale-invariant algorithms are used to handle distance variations, then recognition accuracy across distances is improved, but processing power requirements increase
Solution Approach 1:
The patent pre-structures the fiducial with multiple scale levels before deployment. This preliminary design ensures that fiducial markers of appropriate sizes are already present in the scene, eliminating the need for complex real-time scale-invariant detection algorithms. The system can directly detect and use the pre-configured multi-scale markers, significantly reducing processing power requirements while maintaining recognition accuracy across distances.
3Adaptability or versatility
If multi-scale fiducials are implemented, then recognition capability across distances is improved, but the fiducial structure complexity increases
Solution Approach 1:
The patent employs a nested hierarchical structure where smaller fiducial instances are contained within or associated with larger ones. This nesting approach organizes the multi-scale complexity in a systematic manner, making the structure more manageable and easier to implement compared to completely independent multi-scale elements, thereby balancing adaptability with structural complexity.
Data Source
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AI summary
Disclosed are various embodiments of a multi-scale fiducial. A multi-scale fiducial may have three or more scales, where the child fiducials are nested or otherwise linked by a relative position to the parent fiducials. Multi-scale fiducials may facilitate target identification and tracking at varying distances, potentially without the aid of a scale-invariant recognition algorithm. One application of multi-scale fiducials may involve target identification for autonomously controlled aerial vehicles.