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Instant Tracking Plane
Posted Date: 2019-03-09 6:02     Edited Date: 2019-03-18 1:03     Writer: inactive

Please provide your development details as below;

1. SDK Version: 4.1.0
2. Development Environment: Unity Mac
3. Tracker/Scanner: Instant Tracker
4. License Type(Free / Pro-One Time Fee / Pro-Subscription / Enterprise): Free
5. Target Device(Optional): External Camera

I wanted to share some findings...
I am using an external camera - Blackmagic Design Micro 4k at 1080p 25fps with manual exposure and colour with F=7-14mm lens (typically at F=7mm diagonal field of view 114 degrees) and low noise.
Very sharp, outdoors with huge depth of field (approximately f18 - 850mm to infinity).
There is no gyro input, so I am facing the camera downwards towards the ground plane with a well textured and detailed surface when Instant Tracker is launched.
Elevation is approximately 2.5m above the ground using a jib with very few vertical features in the scene.
The tracking works very well when the camera is pointing towards the ground.
The model is well anchored to the floor plane when the camera moves and is tilted slightly.

However, when I move and tilt the camera more perpendicular to the floor plane, the tracking becomes impaired.
This only occurs when the camera starts to see more vertical elements in the scene (I think).
The model tends to 'slip' from its anchored position.
Sometimes, the tracking is lost entirely when the camera is low in elevation and almost at the floor level, that is, when only vertical points are seen.
As I have mentioned previously, I feel that this may be a result of the 'continuous tracking' that picks up unwanted vertical points which adds 'noise' to the tracking.

If this is likely, then the ability to accurately scan a ground plane with multiple passes and save that floor plane would be ideal for me.
The saved floor plane could be loaded and then models track to that floor plane.

In my situation floor planes, like a studio floor, are not likely to have texture defining features, so, the ability to place a well textured floor plane in position to scan the floor plan is almost essential.
If this floor plane can be saved and then the temporary textured floor plane removed, then it would solve this problem of potential noise and unwanted points.
This approach would be similar to that of Parallel Tracking and Multiple Mapping (PTAMM) where multiple floor planes can be saved:
https://youtu.be/NTLQAb6zH1c
I do not have the coding experience to go down this path:)

A question for you.
When the Instant Tracker is launched, is any tracking done at this point, or, does tracking / finding a floor plane only occur after you press the 'Start Tracking' button and a model appears in the Unity Game Viewer?

I understand that my needs are more professional to that of your intended consumer level applications, however, the potential for greater accuracy will benefit others.
My application is providing a low cost Broadcast Augmented Reality solution.
There are some very sophisticated systems avaialble, however, they are outside the cost of most productions.
Here is an example using a virtual studio with AR and optical tracking:
https://youtu.be/OkpNiYwDtpM
These camera systems and software are inthe order of $200k and $60k alone for optical tracking.
I have no intention to offer a product with this level of sohpistication, rather, simple models tracked to a camera.

Mark
 

Posted Date: 2019-03-09 22:45     Edited Date: 2019-03-09 22:45     Writer: inactive

Perhaps a simple approach for now would be;
- 'Start Finding' a floor plane and use a continuous update method of points as is being used of points while moving the camera around the floor plane,
- 'Stop Finding', to stop continuous update of the plane,
- 'Start Tracking'.

Mark

 

Posted Date: 2019-03-10 3:06     Edited Date: 2019-03-10 3:06     Writer: inactive

I have included a video that indicates the 'slip' of the model as elevation is lowered.

https://youtu.be/P0wpM9qxUVw

00:00 - 00:17 start tracking - anchored to floor - some jitter
00:17 - 00:30 lower, slight tilt - still anchored well - jitter evident
00:30 - 00:40 lower, starts to slip - jitter increases
00:40 - 00:55 lower, more slip - jitter increases
01:13 -  END  lower, extreme slip - model starts to tilt clockwise.

Posted Date: 2019-03-11 5:43     Edited Date: 2019-03-11 5:45     Writer: slkim

If you have 4.1.0, you can also try using the Visual Slam Tool (https://itunes.apple.com/us/app/visual-slam-tool/id1453350513?l=en&ls=1&mt=8).

This tool learns about the size of a meter, but when you use it in Unity, you have map extensions.
You can also run up to five saved maps.I think I can do tests like 'PTAMM'.

The slam map in 4.0.4 also allows you to run three maps simultaneously. However, it can not be extended.

 

01:13 - END lower, extreme slip - model starts to tilt clockwise.
This part is probably affected by the tripod. The same phenomenon occurs when a linear segment such as a tripod.

Posted Date: 2019-03-11 5:55     Edited Date: 2019-03-11 5:55     Writer: slkim

And I think I can make better decisions if I know exactly what you're trying to do. Please give me more details about that I hope there's some kind of implementation scenario.

Posted Date: 2019-03-11 5:56     Edited Date: 2019-03-11 5:56     Writer: inactive

My application is providing a low cost Broadcast Augmented Reality solution.
There are some very sophisticated systems avaialble, however, they are outside the cost of most productions.
Here is an example using a virtual studio with AR and optical tracking:
https://youtu.be/OkpNiYwDtpM
These camera systems and software are inthe order of $200k and $60k alone for optical tracking.
I have no intention to offer a product with this level of sohpistication, rather, simple models tracked to a camera.

Posted Date: 2019-03-11 7:03     Edited Date: 2019-03-11 7:03     Writer: slkim

Our engine doesn't work properly where there's no texture, as in the video. There has to be a change in the environment. Just like you tested it.

Does your broadcasting environment have no texture like a green screen?
I think we need to know if that's the environment.

Posted Date: 2019-03-11 7:47     Edited Date: 2019-03-11 7:47     Writer: inactive

No chroma screen.
My concern was that as the camera is lowered, continuous tracking detects vertical points and that compromise the floor plane and result in slipping.

A thought was to stop continuous scaning of features / points once the ground plane has been mapped accurately.  Threfore, no interference or slipping.

Posted Date: 2019-03-17 7:32     Edited Date: 2019-03-17 7:32     Writer: inactive

Thanks for your help.
Is there a way of creating a stabile floor plane so that no constant vertical and horizontal detection is present?

https://youtu.be/4TQQ1j-Weyw

Mark

 

Posted Date: 2019-03-18 0:53     Edited Date: 2019-03-18 0:53     Writer: slkim

We don't have plan to imporve performance in Instant Tracker.

It seems to be a good way to try the Visual SLAM Tool.Relatively, the Visual SLAM Tool maintains its position well.

Thank you.

 

Keane,

Maxst Support Team.

Posted Date: 2019-03-18 0:56     Edited Date: 2019-03-18 0:56     Writer: inactive

Thank you.

How would I go about using SLAM too and external camera?

Mark

Posted Date: 2019-03-18 1:03     Edited Date: 2019-03-18 1:03     Writer: slkim

You can learn space with the Visual SLAM Tool app and test it with Unity's Object Tracker.

 

Keane,

Maxst Support Team.