Over the last decades fiducial markers have provided widely adopted tools to add reliable model-based features into an otherwise general scene. Given their central role in many computer vision tasks, countless different solutions have been proposed in the literature. Some designs are focused on the accuracy of the recovered camera pose with respect to the tag; some other concentrate on reaching high detection speed or on recognizing a large number of distinct markers in the scene. In such a crowded area both the researcher and the practitioner are licensed to wonder if there is any need to introduce yet another approach. Nevertheless, with this paper, we would like to present a general purpose fiducial marker system that can be deemed to add some valuable features to the pack. Specifically, by exploiting the projective properties of a circular set of sizeable dots, we propose a detection algorithm that is highly accurate. Further, applying a dot pattern scheme derived from error-correcting codes, allows for robustness with respect to very large occlusions. In addition, the design of the marker itself is flexible enough to accommodate different requirements in terms of pose accuracy and number of patterns. The overall performance of the marker system is evaluated in an extensive experimental section, where a comparison with a well-known baseline technique is presented.

In this paper, an observational space–time ensemble of sea surface elevations is investigated in search of the highest waves of the sea state. Wave data were gathered by means of a stereo camera system, which was installed on top of a fixed oceanographic platform located in the Adriatic Sea (Italy). Waves were measured during a mature sea state with an average wind speed of 11 m s⁻¹. By examining the space–time ensemble, the 3D wave groups have been isolated while evolving in the 2D space and grabbed “when and where” they have been close to the apex of their development, thus exhibiting large surface displacements. The authors have selected the groups displaying maximal crest height exceeding the threshold adopted to define rogue waves in a time record, that is, 1.25 times the significant wave height (H_s). The records at the spatial positions where such large crests occurred have been analyzed to derive the empirical distributions of crest and wave heights, which have been compared against standard statistical linear and nonlinear models. Here, the maximal observed wave crests have resulted to be outliers of the standard statistics, behaving as isolated members of the sample, apparently uncorrelated with other waves of the record. However, this study has found that these unexpectedly large wave crests are better approximated by a space–time model for extreme crest heights. The space–time model performance has been improved, deriving a second-order approximation of the linear model, which has provided a fair agreement with the empirical maxima. The present investigation suggests that very large waves may be more numerous than generally expected.

The energy level and its directional distribution are key observations for understanding the energy balance in the wind-wave spectrum between wind-wave generation, nonlinear interactions, and dissipation. Here, properties of gravity waves are investigated from a fixed platform in the Black Sea, equipped with a stereo video system that resolves waves with frequency f up to 1.4 Hz and wavelengths from 0.6 to 11 m. One representative record is analyzed, corresponding to young wind waves with a peak frequency f_p = 0.33 Hz and a wind speed of 13 m s⁻¹. These measurements allow for a separation of the linear waves from the bound second-order harmonics. These harmonics are negligible for frequencies f up to 3 times f_p but account for most of the energy at higher frequencies. The full spectrum is well described by a combination of linear components and the second-order spectrum. In the range 2f_p to 4f_p, the full frequency spectrum decays like f⁻⁵, which means a steeper decay of the linear spectrum. The directional spectrum exhibits a very pronounced bimodal distribution, with two peaks on either side of the wind direction, separated by 150° at 4f_p. This large separation is associated with a significant amount of energy traveling in opposite directions and thus sources of underwater acoustic and seismic noise. The magnitude of these sources can be quantified by the overlap integral I(f), which is found to increase sharply from less than 0.01 at f = 2f_p to 0.11 at f = 4f_p and possibly up to 0.2 at f = 5f_p, close to the 0.5π value proposed in previous studies.

Artificial markers are successfully adopted to solve several vision tasks, ranging from tracking to calibration. While most designs share the same working principles, many specialized approaches exist to address specific application domains. Some are specially crafted to boost pose recovery accuracy. Others are made robust to occlusion or easy to detect with minimal computational resources. The sheer amount of approaches available in recent literature is indeed a statement to the fact that no silver bullet exists. Furthermore, this is also a hint to the level of scholarly interest that still characterizes this research topic. With this paper we try to add a novel option to the offer, by introducing a general purpose fiducial marker which exhibits many useful properties while being easy to implement and fast to detect. The key ideas underlying our approach are three. The first one is to exploit the projective invariance of conics to jointly find the marker and set a reading frame for it. Moreover, the tag identity is assessed by a redundant cyclic coded sequence implemented using the same circular features used for detection. Finally, the specific design and feature organization of the marker are well suited for several practical tasks, ranging from camera calibration to information payload delivery.