Scribd Logo
Upload

Welcome to Scribd!

  • Uist2017 Dodecapen Slides

    Uploaded by

    Nam Thành
    55 views48 pages
    1. The DodecaPen uses a dodecahedron marker attached to a passive stylus to enable accurate 6DoF tracking with a single camera. 2. It achieves sub-millimeter accuracy through a pipeline involving inter-frame corner tracking, approximate pose estimation, and dense pose refinement. 3. Evaluation with both synthetic and real data shows the DodecaPen achieves comparable accuracy to a motion capture system costing $34,990 while only requiring readily available components.

    Original Description:

    Dodeca Pen

    Original Title

    uist2017_dodecapen_slides

    Copyright

    © © All Rights Reserved

    Available Formats

    PPTX, PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    Report this Document
    1. The DodecaPen uses a dodecahedron marker attached to a passive stylus to enable accurate 6DoF tracking with a single camera. 2. It achieves sub-millimeter accuracy through a pipeline involving inter-frame corner tracking, approximate pose estimation, and dense pose refinement. 3. Evaluation with both synthetic and real data shows the DodecaPen achieves comparable accuracy to a motion capture system costing $34,990 while only requiring readily available components.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as pptx, pdf, or txt
    55 views48 pages

    Uist2017 Dodecapen Slides

    Uploaded by

    Nam Thành
    1. The DodecaPen uses a dodecahedron marker attached to a passive stylus to enable accurate 6DoF tracking with a single camera. 2. It achieves sub-millimeter accuracy through a pipeline involving inter-frame corner tracking, approximate pose estimation, and dense pose refinement. 3. Evaluation with both synthetic and real data shows the DodecaPen achieves comparable accuracy to a motion capture system costing $34,990 while only requiring readily available components.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as pptx, pdf, or txt
    of 48

    What's This

    Glove?
    Oh…
    Passive Stylus
    • Thick pen-tip
    Active Stylus
    • Need recharging
    Ideal Stylus?
    Passive
    +
    Accurate
    DodecaPen
    Dodecahedron + Pen

    6DoF Tracking
    How To Use?
    Related Work
    Lumitrack
    (UIST 2013) Accuracy: 5mm
    IrPen
    (CGA 2014)

    Accuracy: 10mm
    Light Chisel
    (PG 2015)

    Accuracy: 2mm
    DodecaPen
    (Proposed)

    Accuracy: 0.4mm
    How To Implement?
    Proposed 6DoF Pose Tracking System

    Inter-frame Corner
    Tracking Marker Intensity
    + Normalization

    No
    Camera DodecaPen
    Did APE
    Succeed? Digital 2D Drawing
    Yes

    Approximate Pose Estimation Dense Pose Refinement


    Input Frames (APE) Output Pen-tip Trajectory
    (Based on DodecaPen Poses)
    Why Dodecahedron?
    Pose Jumping!
    Multiple Candidates due to Coplanar Points
    Platonic Solid
    A Regular, Convex Polyhedron

    Tetrahedron Cube Octahedron Dodecahedron Icosahedron


    Four faces Six faces Eight faces Twelve faces Twenty faces

    (source: wikipedia)
    The Chosen One
    Ideal ⟺ Real
    Fail
    Dodecahedron
    Calibration
    Pen-tip
    Calibration
    6 DoF Pose Tracking
    + =

    + =?
    Performance Analysis
    Evaluation with Synthetic Data

    24 Motion Patterns
    4 Varying Conditions
    Shot Noise Spatial Blur Camera Resolution Mask Kernel Width
    Rotation
    Error
    Translation
    Error
    Success
    Rate
    Evaluation with Real Data

    4 Real Drawings
    VS. Mocap System (16 Cameras)
    Boba Thumb DodecaPen UIST2017

    APE

    Proposed

    Mocap
    DodecaPen VS. Mocap

    + VS. $34,990

    Comparable to a mocap system


    with 10 active cameras
    Take Home Message
    1. Sub-millimeter accurate 6DoF tracking
    using a set of readily available and easy-
    to-assemble components.
    2. Single camera pose estimation can be fast
    and robust enough for drawing in 2D, 3D
    and in VR.
    DodecaPen: Accurate 6DoF Tracking of a Passive Stylus
    Inter-frame Corner Tracking (ICT)
    • Pyramidal Lucas-Kanade marker
    corner tracking
    • P𝑛P algorithm to get the initial Marker Intensity
    pose 𝐩′ Normalization
    +

    No

    Camera DodecaPen Did APE


    Succeed?
    Yes Digital 2D Drawing
    Mipmap Masks
    Marker Mipmaps

    Masked Mipmaps

    Approximate Pose Estimation (APE) Dense Pose Refinement (DPR)


    • Marker Detection • Minimize appearance distance with Gauss
    • Minimize reprojection error with P𝑛P Newton and backtracking line search
    (BLS) to get the final pose 𝐩∗ Output Pen-tip Trajectory
    Input Frames algorithm to get the initial pose 𝐩′
    • Marker & mask mipmaps
    (Based on DodecaPen Poses)

    You might also like