Dependable coding of fiducial tags

Authors:
Andrew C. Rice;Christopher B. Cain;John K. Fawcett
Affiliations:
Laboratory for Communication Engineering, Department of Engineering, University of Cambridge, Cambridge;Department of Pure Mathematics and Mathematical Statistics, Centre for Mathematical Sciences, University of Cambridge;Laboratory for Communication Engineering, Department of Engineering, University of Cambridge, Cambridge
Venue:
UCS'04 Proceedings of the Second international conference on Ubiquitous Computing Systems
Year:
2004

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Abstract

Fiducial tags can be recognised successfully and decoded by computer vision systems in order to produce location information. We term a system dependable if its observable results are predictable and repeatable. The dependability of such a vision system is fundamentally dependent on the scheme used to encode data on the tag. We show that the rotational symmetry common to many tag designs requires particular consideration in order to understand the performance of the coding schemes when errors occur. We develop an abstract representation of tags carrying symbolic data which allows existing information coding techniques to achieve robust codes. An error-correcting coding scheme is presented for carrying arbitrary symbolic data in a dependable vision system.