ARTag, a Fiducial Marker System Using Digital Techniques

Fiducial marker systems consist of patterns that are mounted in the environment and automatically detected in digital camera images using an accompanying detection algorithm. They are useful for augmented reality (AR), robot navigation, and general applications where the relative pose between a camera and object is required. Important parameters for such marker systems is their false detection rate (false positive rate), their inter-marker confusion rate, minimal detection size (in pixels) and immunity to lighting variation. ARTag is a marker system that uses digital coding theory to get a very low false positive and inter-marker confusion rate with a small required marker size, employing an edge linking…