Detect Fiducial Markers

Function

This Step detects the poses of fiducial markers in the scene.

Usage Scenario

This Step detects fiducial markers, estimates the object poses through fiducial markers, and performs dynamic compensation for the pick points.

Input and Output

  • Input:

  1. Scene depth map.

  2. Scene color image.

  3. Scene point cloud.

  • Output:

  1. Poses of detected fiducial markers.

  2. Identifiers of detected fiducial markers.

  3. Point cloud representing the search range of fiducial markers’ keypoints.