Title: Ninja Codes: Neurally Generated Fiducial Markers for Stealthy 6-DoF Tracking Show Chinese title

Title: 忍者代码：用于隐蔽六自由度跟踪的神经生成参考标记

Abstract: In this paper we describe Ninja Codes, neurally-generated fiducial markers that can be made to naturally blend into various real-world environments. An encoder network converts arbitrary images into Ninja Codes by applying visually modest alterations; the resulting codes, printed and pasted onto surfaces, can provide stealthy 6-DoF location tracking for a wide range of applications including augmented reality, robotics, motion-based user interfaces, etc. Ninja Codes can be printed using off-the-shelf color printers on regular printing paper, and can be detected using any device equipped with a modern RGB camera and capable of running inference. Using an end-to-end process inspired by prior work on deep steganography, we jointly train a series of network modules that perform the creation and detection of Ninja Codes. Through experiments, we demonstrate Ninja Codes' ability to provide reliable location tracking under common indoor lighting conditions, while successfully concealing themselves within diverse environmental textures. We expect Ninja Codes to offer particular value in scenarios where the conspicuous appearances of conventional fiducial markers make them undesirable for aesthetic and other reasons. Show Chinese abstract

Abstract: 在本文中，我们描述了Ninja Codes，这是一种由神经网络生成的标识标记，可以自然地融入各种现实世界环境。 一个编码器网络通过应用视觉上适度的修改，将任意图像转换为Ninja Codes；生成的代码打印并粘贴到表面上后，可以为包括增强现实、机器人技术、基于运动的用户界面等广泛应用提供隐蔽的6自由度定位跟踪。 Ninja Codes可以使用现成的彩色打印机在普通打印纸上打印，并且可以使用任何配备现代RGB相机并能够运行推理的设备进行检测。 我们采用一种受先前深度隐写术研究启发的端到端过程，联合训练一系列执行Ninja Codes创建和检测的网络模块。 通过实验，我们展示了Ninja Codes在常见室内照明条件下提供可靠定位跟踪的能力，同时成功隐藏在各种环境纹理中。 我们预计Ninja Codes在传统标识标记显眼外观使其因审美或其他原因不受欢迎的场景中将具有特别的价值。