DETECTING THE POSITION OF THE PEN TIP

The detection of the position of the pen tip in the current image is given by the location of maximum correlation between the image and a template of the pen tip previously stored. In order to be computationally efficient, the correlation is performed only on a small neighborhood around the predicted position of the pen tip, as shown in the following figure. 
 
 
 
 
 

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 Mario Enrique Munich - mariomu AT vision DOT caltech DOT edu