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

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.