A Novel Approach to Achieve Robustness Against Marker Occlusion

This paper introduces a novel estimation technique to compute camera translation and rotation (only in the axis that is perpendicular to the image plane) when a marker is partially occluded. The approach has two main advantages: 1) only one marker is necessary; and 2) it has a low computational cost. As a result of the second feature, this proposal is ideal for mobile devices. Our method is implemented in ARToolkitPlus library, but it could be implemented in another marker-tracking library with square markers. A little extra image processing is needed, taking advantage of temporal coherence. Results show that user feels enough realistic sensation to apply this technique in some applications.