{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,31]],"date-time":"2025-12-31T00:40:35Z","timestamp":1767141635579,"version":"build-2238731810"},"reference-count":37,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2020,8,25]],"date-time":"2020-08-25T00:00:00Z","timestamp":1598313600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,8,25]],"date-time":"2020-08-25T00:00:00Z","timestamp":1598313600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Real-Time Image Proc"],"published-print":{"date-parts":[[2021,6]]},"DOI":"10.1007\/s11554-020-01010-w","type":"journal-article","created":{"date-parts":[[2020,8,25]],"date-time":"2020-08-25T15:03:56Z","timestamp":1598367836000},"page":"691-702","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["PDCAT: a framework for fast, robust, and occlusion resilient fiducial marker tracking"],"prefix":"10.1007","volume":"18","author":[{"given":"Oualid","family":"Araar","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Imad Eddine","family":"Mokhtari","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mohamed","family":"Bengherabi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2020,8,25]]},"reference":[{"issue":"8","key":"1010_CR1","doi-asserted-by":"publisher","first-page":"730","DOI":"10.1631\/FITEE.1500324","volume":"17","author":"GC La Delfa","year":"2016","unstructured":"La Delfa, G.C., Monteleone, S., Catania, V., De Paz, J.F., Bajo, J.: Performance analysis of visualmarkers for indoor navigation systems. Front. Inf. Technol. Electron. Eng. 17(8), 730\u2013740 (2016)","journal-title":"Front. Inf. Technol. Electron. Eng."},{"key":"1010_CR2","doi-asserted-by":"crossref","unstructured":"Sp\u0142awski, M., Staszak, R., Jarecki, F., Chudzi\u0144ski, J., Kaczmarek, P., Drapikowski, P., Belter, D.: \u201cMotion planning of the cooperative robot with visual markers. In: Conference on Automation, Springer, pp.\u00a0206\u2013215 (2020)","DOI":"10.1007\/978-3-030-40971-5_19"},{"key":"1010_CR3","doi-asserted-by":"publisher","first-page":"153","DOI":"10.1016\/j.conengprac.2018.03.005","volume":"74","author":"S Siv\u010dev","year":"2018","unstructured":"Siv\u010dev, S., Rossi, M., Coleman, J., Dooly, G., Omerdi\u0107, E., Toal, D.: Fully automatic visual servoing control for work-class marine intervention rovs. Control Eng. Pract. 74, 153\u2013167 (2018)","journal-title":"Control Eng. Pract."},{"issue":"2","key":"1010_CR4","doi-asserted-by":"publisher","first-page":"369","DOI":"10.1007\/s10846-016-0399-z","volume":"85","author":"O Araar","year":"2017","unstructured":"Araar, O., Aouf, N., Vitanov, I.: Vision based autonomous landing of multirotor uav on moving platform. J. Intell. Robot. Syst. 85(2), 369\u2013384 (2017)","journal-title":"J. Intell. Robot. Syst."},{"key":"1010_CR5","doi-asserted-by":"publisher","first-page":"129","DOI":"10.1007\/s11554-009-0140-2","volume":"5","author":"I Barandiaran","year":"2010","unstructured":"Barandiaran, I., Paloc, C., Gra\u00f1a, M.: Real-time optical markerless tracking for augmented reality applications. J. Real Time Image Process. 5, 129\u2013138 (2010)","journal-title":"J. Real Time Image Process."},{"key":"1010_CR6","doi-asserted-by":"publisher","first-page":"571","DOI":"10.1007\/s11554-016-0640-9","volume":"13","author":"J Park","year":"2017","unstructured":"Park, J., Seo, B.-K., Park, J.-I.: Binocular mobile augmented reality based on stereo camera tracking. J. Real Time Image Process. 13, 571\u2013580 (2017)","journal-title":"J. Real Time Image Process."},{"key":"1010_CR7","doi-asserted-by":"publisher","first-page":"69","DOI":"10.1007\/s11554-007-0043-z","volume":"2","author":"J Chandaria","year":"2007","unstructured":"Chandaria, J., Thomas, G.A., Stricker, D.: The matris project: real-time markerless camera tracking for augmented reality and broadcast applications. J. Real Time Image Process. 2, 69\u201379 (2007)","journal-title":"J. Real Time Image Process."},{"issue":"2","key":"1010_CR8","doi-asserted-by":"publisher","first-page":"121","DOI":"10.1007\/s11554-009-0138-9","volume":"5","author":"PC Santos","year":"2010","unstructured":"Santos, P.C., Stork, A., Buaes, A., Pereira, C.E., Jorge, J.: A real-time low-cost marker-based multiple camera tracking solution for virtual reality applications. J. Real Time Image Process. 5(2), 121\u2013128 (2010)","journal-title":"J. Real Time Image Process."},{"key":"1010_CR9","doi-asserted-by":"publisher","first-page":"31","DOI":"10.1007\/s11554-010-0168-3","volume":"7","author":"CH Lampert","year":"2012","unstructured":"Lampert, C.H., Peters, J.: Real-time detection of colored objects in multiple camera streams with off-the-shelf hardware components. J. Real Time Image Process. 7, 31\u201341 (2012)","journal-title":"J. Real Time Image Process."},{"issue":"2","key":"1010_CR10","doi-asserted-by":"publisher","first-page":"207","DOI":"10.1007\/s11554-011-0206-9","volume":"8","author":"H Bagherinia","year":"2013","unstructured":"Bagherinia, H., Manduchi, R.: Robust real-time detection of multi-color markers on a cell phone. Real Time Image Process. 8(2), 207\u2013223 (2013)","journal-title":"Real Time Image Process."},{"key":"1010_CR11","doi-asserted-by":"publisher","first-page":"235","DOI":"10.1117\/12.56761","volume-title":"Cooperative Intelligent Robotics in Space II","author":"LB Gatrell","year":"1992","unstructured":"Gatrell, L.B., Hoff, W.A., Sklair, C.W.: Robust image features: concentric contrasting circles and their image extraction. In: Stoney, W.E. (ed.) Cooperative Intelligent Robotics in Space II, vol. 1612, pp. 235\u2013244. International Society for Optics and Photonics, Bellingham (1992)"},{"key":"1010_CR12","doi-asserted-by":"crossref","unstructured":"Calvet, L., Gurdjos, P., Griwodz, C., Gasparini, S.: Detection and accurate localization of circular fiducials under highly challenging conditions. In: 2016 IEEE Conference on cmputer vision and pattern recognition (CVPR), pp.\u00a0562\u2013570, (2016)","DOI":"10.1109\/CVPR.2016.67"},{"key":"1010_CR13","first-page":"113","volume":"2011","author":"F Bergamasco","year":"2011","unstructured":"Bergamasco, F., Albarelli, A., Rodol\u00e0, E., Torsello, A.: Rune-tag: a high accuracy fiducial marker with strong occlusion resilience. CVPR 2011, 113\u2013120 (2011)","journal-title":"CVPR"},{"issue":"7","key":"1010_CR14","doi-asserted-by":"publisher","first-page":"1317","DOI":"10.1109\/TPAMI.2009.146","volume":"32","author":"M Fiala","year":"2010","unstructured":"Fiala, M.: Designing highly reliable fiducial markers. IEEE Trans. Pattern Anal. Mach. Intell. 32(7), 1317\u20131324 (2010)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"1010_CR15","unstructured":"Kato, H., Billinghurst, M.: Marker tracking and HMD calibration for a video-based augmented reality conferencing system. In: Proceedings on 2nd IEEE and ACM International Workshop on Augmented Reality. (IWAR \u201999), pp.\u00a085\u201394, (1999)"},{"key":"1010_CR16","doi-asserted-by":"crossref","unstructured":"Olson, E.: AprilTag: a robust and flexible visual fiducial system. In: 2011 IEEE International conference on robotics and automation, IEEE, pp.\u00a03400\u20133407, (2011)","DOI":"10.1109\/ICRA.2011.5979561"},{"key":"1010_CR17","doi-asserted-by":"crossref","unstructured":"Klokmose, C.N., Kristensen, J.B., Bagge, R., Halskov, K.: Bullseye: high-precision fiducial tracking for table-based tangible interaction. In: Proceedings of the Ninth ACM international conference on interactive tabletops and surfaces, pp.\u00a0269 \u2013 278, (2014)","DOI":"10.1145\/2669485.2669503"},{"key":"1010_CR18","doi-asserted-by":"crossref","unstructured":"Kaltenbrunner, M., Bencina, R.: Reactivision: a computer-vision framework for table-based tangible interaction. In: Proceedings of the 1st international conference on Tangible and embedded interaction, pp.\u00a069\u201374, (2007)","DOI":"10.1145\/1226969.1226983"},{"key":"1010_CR19","volume-title":"Eurographics Symposium on Virtual Environments, Short Papers and Posters","author":"D Flohr","year":"2007","unstructured":"Flohr, D., Fischer, J.: A Lightweight ID-based extension for marker tracking systems. In: Froehlich, B., Blach, R., van Liere, R. (eds.) Eurographics Symposium on Virtual Environments, Short Papers and Posters. The Eurographics Association, Switzerland (2007)"},{"key":"1010_CR20","unstructured":"Fiala, M.: ARTag, a fiducial marker system using digital techniques. In: IEEE computer society conference on computer vision and pattern recognition, pp.\u00a0590\u2013596, (2005)"},{"key":"1010_CR21","unstructured":"Wagner, D., Schmalstieg, D.: ARToolKitPlus for pose tracking on mobile devices ARToolKit. In: Computer vision winter workshop, (2007)"},{"key":"1010_CR22","doi-asserted-by":"crossref","unstructured":"Wang, J., Olson, E.: AprilTag 2 : efficient and robust fiducial detection. In: International conference on intelligent robots and systems, pp.\u00a04193\u20134198, (2016)","DOI":"10.1109\/IROS.2016.7759617"},{"issue":"6","key":"1010_CR23","doi-asserted-by":"publisher","first-page":"2280","DOI":"10.1016\/j.patcog.2014.01.005","volume":"47","author":"S Garrido-jurado","year":"2014","unstructured":"Garrido-jurado, S.: Automatic generation and detection of highly reliable fi ducial markers under occlusion. Pattern Recogn. 47(6), 2280\u20132292 (2014)","journal-title":"Pattern Recogn."},{"key":"1010_CR24","doi-asserted-by":"publisher","first-page":"38","DOI":"10.1016\/j.imavis.2018.05.004","volume":"76","author":"FJ Romero-ramirez","year":"2018","unstructured":"Romero-ramirez, F.J., Mu, R.: Speeded up detection of squared fiducial markers. Image Vis. Comput. 76, 38\u201347 (2018). https:\/\/doi.org\/10.1016\/j.imavis.2018.05.004","journal-title":"Image Vis. Comput."},{"key":"1010_CR25","doi-asserted-by":"publisher","first-page":"61","DOI":"10.1016\/j.neucom.2019.11.023","volume":"381","author":"G Ciaparrone","year":"2020","unstructured":"Ciaparrone, G., S\u00e1nchez, F.L., Tabik, S., Troiano, L., Tagliaferri, R., Herrera, F.: Deep learning in video multi-object tracking: a survey. Neurocomputing 381, 61\u201388 (2020)","journal-title":"Neurocomputing"},{"key":"1010_CR26","doi-asserted-by":"crossref","unstructured":"Bertinetto, L., Valmadre, J., Henriques, J.F., Vedaldi, A., Torr, P.H.: Fully-convolutional siamese networks for object tracking. In: European conference on computer vision, Springer, pp. 850\u2013865, (2016)","DOI":"10.1007\/978-3-319-48881-3_56"},{"key":"1010_CR27","doi-asserted-by":"publisher","first-page":"115807","DOI":"10.1016\/j.image.2020.115807","volume":"84","author":"K Huang","year":"2020","unstructured":"Huang, K., Shi, Y., Zhao, F., Zhang, Z., Tu, S.: Multiple instance deep learning for weakly-supervised visual object tracking. Signal Process. Image Commun. 84, 115807 (2020)","journal-title":"Signal Process. Image Commun."},{"key":"1010_CR28","doi-asserted-by":"publisher","first-page":"856","DOI":"10.1109\/ACCESS.2019.2961778","volume":"8","author":"J Chu","year":"2019","unstructured":"Chu, J., Tu, X., Leng, L., Miao, J.: Double-channel object tracking with position deviation suppression. IEEE Access 8, 856\u2013866 (2019)","journal-title":"IEEE Access"},{"issue":"1","key":"1010_CR29","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1186\/s13640-020-0496-6","volume":"2020","author":"Y Yuan","year":"2020","unstructured":"Yuan, Y., Chu, J., Leng, L., Miao, J., Kim, B.-G.: A scale-adaptive object-tracking algorithm with occlusion detection. EURASIP J. Image Video Process. 2020(1), 1\u201315 (2020)","journal-title":"EURASIP J. Image Video Process."},{"key":"1010_CR30","doi-asserted-by":"publisher","first-page":"19959","DOI":"10.1109\/ACCESS.2018.2815149","volume":"6","author":"J Chu","year":"2018","unstructured":"Chu, J., Guo, Z., Leng, L.: Object detection based on multi-layer convolution feature fusion and online hard example mining. IEEE Access 6, 19959\u201319967 (2018)","journal-title":"IEEE Access"},{"key":"1010_CR31","unstructured":"Lucas, B., Kanade, T.: An iterative image registration technique with an application to stereo vision. In: 7th international joint conference on artificial intelligence, vol.\u00a0130, pp.\u00a0674\u2013679, (1981)"},{"key":"1010_CR32","unstructured":"Shi, J., Tomasi, C.: Good features to track. In: IEEE computer society conference on computer vision and pattern recognition CVPR, pp.\u00a0593\u2013600, (1994)"},{"key":"1010_CR33","unstructured":"Bouguet, J.: Pyramidal implementation of the affine lucas kanade feature tracker description of the algorithm. Intel corporation (2001)"},{"key":"1010_CR34","doi-asserted-by":"publisher","first-page":"599","DOI":"10.1016\/j.optlastec.2012.11.010","volume":"48","author":"J Chu","year":"2013","unstructured":"Chu, J., GuoLu, A., Wang, L.: Chessboard corner detection under image physical coordinate. Opt. Laser Technol. 48, 599\u2013605 (2013)","journal-title":"Opt. Laser Technol."},{"key":"1010_CR35","volume-title":"Obstacle Avoidance and Navigation in the Real World by a Seeing Robot Rover","author":"H Moravec","year":"1980","unstructured":"Moravec, H.: Obstacle Avoidance and Navigation in the Real World by a Seeing Robot Rover. Carnegie-Mellon University, Pittsburgh (1980)"},{"key":"1010_CR36","doi-asserted-by":"crossref","unstructured":"Harris, C., Stephens, M.: A combined corner and edge detector. In: Procedings of the Alvey vision conference 1988, pp.\u00a023.1\u201323.6, (1988)","DOI":"10.5244\/C.2.23"},{"key":"1010_CR37","doi-asserted-by":"publisher","first-page":"141","DOI":"10.1007\/s11554-012-0314-1","volume":"11","author":"P M\u00e1rquez-Neila","year":"2016","unstructured":"M\u00e1rquez-Neila, P., L\u00f3pez-Alberca, J., Buenaposada, J.M., Baumela, L.: Speeding-up homography estimation in mobile devices. J. Real Time Image Process. 11, 141\u2013154 (2016)","journal-title":"J. Real Time Image Process."}],"updated-by":[{"DOI":"10.1007\/s11554-020-01017-3","type":"correction","label":"Correction","source":"publisher","updated":{"date-parts":[[2020,9,18]],"date-time":"2020-09-18T00:00:00Z","timestamp":1600387200000}}],"container-title":["Journal of Real-Time Image Processing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11554-020-01010-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11554-020-01010-w\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11554-020-01010-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,8,24]],"date-time":"2021-08-24T19:33:18Z","timestamp":1629833598000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11554-020-01010-w"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,8,25]]},"references-count":37,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2021,6]]}},"alternative-id":["1010"],"URL":"https:\/\/doi.org\/10.1007\/s11554-020-01010-w","relation":{},"ISSN":["1861-8200","1861-8219"],"issn-type":[{"value":"1861-8200","type":"print"},{"value":"1861-8219","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,8,25]]},"assertion":[{"value":"3 May 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"13 August 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 August 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"18 September 2020","order":4,"name":"change_date","label":"Change Date","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"Correction","order":5,"name":"change_type","label":"Change Type","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"A Correction to this paper has been published:","order":6,"name":"change_details","label":"Change Details","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"https:\/\/doi.org\/10.1007\/s11554-020-01017-3","URL":"https:\/\/doi.org\/10.1007\/s11554-020-01017-3","order":7,"name":"change_details","label":"Change Details","group":{"name":"ArticleHistory","label":"Article History"}}]}}