Aruco-marker-detection-decoding-and-tracking

Objective

This project will focus on detecting a custom AR Tag (a form of fiducial marker), that is used for obtaining a point of reference in the real world, such as in augmented reality applications. There are two aspects to using an AR Tag, namely Detection and Tracking, both of which will be implemented in this project. The detection stage will involve finding the AR Tag from a given image sequence while the tracking stage will involve keeping the tag in“view” throughout the sequence and performing image processing operations based on the tag's orientation and position (a.k.a. the pose).

├───LICENSE
├───Report.pdf
├───README.md
├───AR_Tag_detection.py
├───1tagvideo.mp4
├───testudo.png
└───outputs

Requirements

OpenCV pip install opencv-python
NumPy pip install numpy
glob pip install glob2
Matplotlib pip install matplotlib
SciPy python -m pip install scipy
math
Download and install Anaconda {easy}

Instructions to run

Clone the repository

git clone https://github.com/bharadwaj-chukkala/Aruco-marker-detection-decoding-and-tracking.git

Open the folder in the IDE
Run the AR_Tag_detection.py file
```
cd <root>
python AR_Tag_detection.py
```
Uncomment the commented lines at the end to save outputs to outputs folder

Implementation Steps and Results

Aruco Marker/ AR Tag Detection and Tracking

Image Preprocessing

Fig 1.

Edge and Corner Detection

Fig 2.

Decoding the AR Tag through Warping

Fig 3.

Tracking the detected Tag

Superimposing the Testudo Image onto the TAG

Fig 4.

Projecting a Cube on the Edges of the Image

Fig 5.

Implementation Video

References

OpenCV documentation: https://docs.opencv.org/
NumPy documentation: https://numpy.org/doc/stable/
Matplotlib documentation: https://matplotlib.org/stable/index.html
SciPy documentation: https://docs.scipy.org/doc/scipy/

License

This project is licensed under the MIT License - see the LICENSE file for details.

Author Contact

Bharadwaj Chukkala
UID: 118341705
Bharadwaj Chukkala is currently a Master's student in Robotics at the University of Maryland, College Park, MD (Batch of 2023). His interests include Machine Learning, Perception and Path Planning for Autonomous Robots.

bharadwaj-chukkala/Aruco-marker-detection-decoding-and-tracking