Augmented reality without fiducial markers

This work presents an implementation of an augmented reality system that does not use fiducial markers for neither estimating the camera pose nor inserting a virtual object but natural marks such as corners of objects that are present in the scene. The system uses a RGB-D dataset for positioning the camera which moves with 6 DOF, for defining a work plane and for superimposing the object on the video frames at real time. The user can select through a graphical interface the work plane and the virtual object, and modify its size, position and orientation. The system is robust to fast an complex camera motion, comparable to the most outstanding works of augmented reality.