Fast tracking algorithm for designed marker

Abstract

Robust and real-time object tracking is a vital part of many application including the navigation of mobile robot and unmanned aerial vehicle. In such environment, the computational power and battery are limited. Hence, most of the state of the art algorithms will not be able to display their full potential. Thus, we propose an improved tracking algorithm, with a designed marker, to perform robustly in real-time in complex environments. Our algorithm based on a simple binarization and finding candidate connected components. Then, with physical and geometric property of the designed marker, we can filter out all the other components until we only have the marker. This scheme has been tested on Raspberry PI, a limited-power computing unit, and demonstrate sufficient robustness and speed.