Patent ID: 9607199
Date: 2017-03-28
CPC Classifications: G06K

Claim:
1. A computer-implemented method for detecting a fiducial containing a machine-readable optical code, comprising: at an image capture device, capturing an input image; at a processor, generating a binary image from the input image; at the processor, identifying connected components within the binary image; at the processor, identifying quadrilaterals within the connected components; at the processor, filtering the identified quadrilaterals to generate a set of at least one quadrilateral; and at an output device, outputting the set of at least one quadrilateral as a set of at least one detected fiducial containing a machine-readable optical code; wherein generating a binary image from the input image comprises: determining a local scale for each of a plurality of locations within the image, to generate a locally averaged image; and at each location, comparing the locally averaged image to a threshold.