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Camera pose tracking attracts much interest both from academic and industrialcommunities, of which the methods based on planar markers are easy to beimplemented. However, most of the existing methods need to identify multiplepoints in the marker images for matching to space points. Then, PnP and RANSACare used to compute the camera pose. If cameras move fast or are far away frommarkers, matching is easy to generate errors and even RANSAC cannot removeincorrect matching. Then, the result by PnP cannot have good performance. Tosolve this problem, we design circular markers and represent 6D camera poseanalytically and unifiedly as very concise forms from each of the marker byprojective invariance. Afterwards, the pose is further optimized by a proposednonlinear cost function based on a polar-n-direction geometric distance. Themethod is from imaged circle edges and without PnP/RANSAC, making pose trackingrobust and accurate. Experimental results show that the proposed methodoutperforms the state of the arts in terms of noise, blur, and distance fromcamera to marker. Simultaneously, it can still run at about 100 FPS on aconsumer computer with only CPU.

Efficient Circle-Based Camera Pose Tracking Free of PnP