Image Processing Reference
In-Depth Information
Table 2
Results for the Online Detection
HD 5000
SPC900nc
x-Corners %
x-Corners %
Image 00 77
100
73
94.80
Image 01 77
100
77
100
Image 02 77
100
77
100
Image 03 73
94.80 76
98.70
Image 04 77
100
73
94.70
Image 05 77
100
77
100
Image 06 77
100
76
98.70
Image 07 77
100
77
100
Image 08 77
100
77
100
Image 09 77
100
76
98.70
Image 10 75
97.40 72
93.50
Image 11 70
90.90 76
98.70
Image 12 72
93.50 75
97.40
Image 13 70
90.90 77
100
Mean
97.68
98.23
Figure 8 shows some of the images used in the second experiment. Once the patern is com-
pletely visible, the algorithm has a high success rate, while the missed corners tend to arise
when there is a more accentuated inclination of the plane in relation to the camera. In both ex-
periments no false positives were identified, which confirms the robustness of the filter used.
To illustrate the efficiency of the topological filter and propagation of coordinates, Figure 9
shows the result of the algorithm using complex backgrounds and partial occlusion of the pat-
tern. The occluded corners do not interfere in the propagation of correct coordinates. Thus, it
is possible to use the maximum of features identified for the estimation of camera parameters.
The last column shows the reprojection plan calibration calculated from the detected points.
 
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