Low-cost multi-view pose tracking using active markers

• Pulsed LEDs as active markers
• Works with standard webcams
• Fast 2D marker identification
• Robust 3D marker position reconstruction
• Precise 6D rigid object pose reconstruction
• Tracking supports fusion with IMU data
• ROS interface, usable with robots and other sensors
• Fully open-source software

Instrumented Objects

Teach robots by recording demonstrations of manipulation tasks using instrumented objects and tracking gloves.

Visual-Inertial Sensor Fusion

Increase reliability under marker occlusions through crossmodal sensor fusion with IMUs.

Robot Calibration

Use webcams and LEDs to accurately calibrate your robots.

ROS Integration

Marker positions and object poses are published as ROS messages for easy integration into robot applications and machine learning projects.

Links

• https://github.com/TAMS-Group/tams_tracker
• https://tams-group.github.io/bio_ik/