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Having fiducial markers on the test images lets one recover pose from those test images, using this pose estimates as ground truth to compare the performance of a object & pose detector. See also http://opencv.willowgarage.com/wiki/SolutionsInPerceptionChallenge.

Having fiducial markers on the test images lets one recover pose from those test images, using this images. We can use these pose estimates as ground truth to compare the performance of a an object & pose detector. See also http://opencv.willowgarage.com/wiki/SolutionsInPerceptionChallenge.