Deformable random dot markers

We extend planar fiducial markers using random dots [8] to nonrigidly deformable markers. Because the recognition and tracking of random dot markers are based on keypoint matching, we can estimate the deformation of the markers with nonrigid surface detection from keypoint correspondences. First, the initial pose of the markers is computed from a homography with RANSAC as a planar detection. Second, deformations are estimated from the minimization of a cost function for deformable surface fitting. We show augmentation results of 2D surface deformation recovery with several markers.