Marker localization with a multi-camera system

This paper presents a marker localization system consisting of multiple cameras. It is the basis of a real-time robotic motion tracking system aiming for high localization accuracy and high time resolution. These goals are achieved using several cameras with very redundant field-of-views. The paper presents the theoretical background of 3D camera calibration and localization, the localization accuracy measurement setup, and its results. The measurements are obtained using a color marker and an industrial robotic arm for measurement ground truth generation. The Smart Mobile Eyes for Localization (SMEyeL) project is open-source: the source code, all measurement input data and documentation are public available.