TsFPS: An Accurate and Flexible 6DoF Tracking System with Fiducial Platonic Solids

Nan Xiang, Xiaosong Yang, Jian J. Zhang

Research output: Chapter in Book or Report/Conference proceedingConference Proceedingpeer-review

6 Citations (Scopus)


We present a vision-based system for real-time pose tracking of the rigid object, it can not only estimate a single pose in six degrees of freedom (6DoF), but also suitable for recovering compound movements. The system is comprised of a monocular camera, and a series of 3D printed platonic solids with squared fiducial markers attached on each single face, which is easy to setup and extend, extra cameras are allowed to incorporate into the pipeline for meeting different requirements. The system realizes object tracking by estimating the pose of the fiducial platonic solid (FPS) which can be fixed onto the surface of the target object. Different sizes and shapes of the platonic solids are allowed to combine with each other to adapt to different application scenarios, this strategy provides enormous flexibility and applicability to our system. In order to track the motion of the fiducial platonic solid accurately, a robust algorithm that combines the fiducial constraint and the statistical constraint is introduced, which is able to handle illumination changes, motion blur and partial occlusion. We evaluate the performance of the proposed approach with qualitative and quantitative experiments, in addition, a couple of mixed reality (MR) applications are developed for demonstrating the effectiveness of the system.

Original languageEnglish
Title of host publicationMM 2021 - Proceedings of the 29th ACM International Conference on Multimedia
PublisherAssociation for Computing Machinery, Inc
Number of pages9
ISBN (Electronic)9781450386517
Publication statusPublished - 17 Oct 2021
Externally publishedYes
Event29th ACM International Conference on Multimedia, MM 2021 - Virtual, Online, China
Duration: 20 Oct 202124 Oct 2021

Publication series

NameMM 2021 - Proceedings of the 29th ACM International Conference on Multimedia


Conference29th ACM International Conference on Multimedia, MM 2021
CityVirtual, Online


  • mixed reality
  • pose tracking
  • region-based tracking
  • squared fiducial markers

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