Fiducial detection system

A method for finding a centroid of an outer rim of a fiducial comprising:

• capturing an image of the fiducial;
• filling an interior of the fiducial image to match a color of the outer rim resulting in one solid ellipse-like shape;
• and
• calculating the centroid of the one solid ellipse-like shape.

A method of detecting fiducial marks comprising:

• capturing an image of a fiducial mark, the fiducial mark comprising a circular outer perimeter, a pattern of contrasting regions on an inside of the outer perimeter that is not symmetrical about a central point of the fiducial mark, and that identifies an identity code, a two dimensional (2D) array of encoding areas, each of the encoding areas having a color selected from a set of N colors, and having approximately equal sizes and features for establishing a reference frame for reading the patterns;
• determining an origin of the image from a first feature;
• and
• determining an x-axis and a y-axis position of the image from second features.

A hybrid tracking system comprising:

• a camera for capturing an image;
• an inertial measurement unit;
• and
• a sensor fusion core including a means for detecting a fiducial within the image.

A two-dimensional (2D) fiducial for image processing comprising:

• an outer ring of 1 u width;
• two data rings, each data ring having a 1 u width;
• and
• an inner ring with 1 u width, wherein u is one length unit.

An image processing target comprising:

• a black colored outer ring of 1 u width;
• two data rings, each data ring having a 1 u width and including eight sectors with 45° for each sector;
• and
• an inner ring of 1 u width comprising a black circle with a white eye in a center.

An image processing system for a wearable vision-inertial self tracker comprising:

• an inertial measurement unit (IMU);
• a sensor fusion core (SFC) including means for acquiring, tracking and tracquisitioning a two-dimensional (2D) bar-code fiducial;
• and
• a smart camera device.