FIDUCIAL MARKER SYSTEMS OVERVIEW AND EMPIRICAL ANALYSIS OF ARUCO, APRILTAG AND CCTAG
The present paper advances an overview and comparison of existing fiducial marker systems. A fiducial marker is a 2D symbol that can be printed on a sheet of paper and glued to any flat surface to add distinctive characteristics to an environment. A system of fiducial markers consists of a set of un...
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| Veröffentlicht in: | Scientific Bulletin. Series C, Electrical Engineering and Computer Science Electrical Engineering and Computer Science, 2023-01 (2), p.49 |
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| creator | Patru, George-Cristian Pırvan, Alina-Irina Rosner, Daniel Rughinis, Razvan-Victor |
| description | The present paper advances an overview and comparison of existing fiducial marker systems. A fiducial marker is a 2D symbol that can be printed on a sheet of paper and glued to any flat surface to add distinctive characteristics to an environment. A system of fiducial markers consists of a set of unique fiducial markers that contain information and an algorithm that can recognize and process the respective information using images and videos. This paper describes an evaluation of the ArUco, AprilTag, and CCTag marker systems. With the help of a minimalist hardware system, we obtained a data set consisting of 13200 images. Based on the data set, we evaluated the three marker systems according to the following criteria: the distance between the camera and the marker, the intensity of light, the movement speed of the camera, the resistance to occlusion, and the performance of the algorithms. The results obtained show that ArUco is the fastest, detecting the marker in 2 ms. Furthermore, the results illustrate that the CCTag is resistant to occlusion and performs very well in scenarios that simulate real-time detection, that is, scenarios with blurred pictures. |
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A fiducial marker is a 2D symbol that can be printed on a sheet of paper and glued to any flat surface to add distinctive characteristics to an environment. A system of fiducial markers consists of a set of unique fiducial markers that contain information and an algorithm that can recognize and process the respective information using images and videos. This paper describes an evaluation of the ArUco, AprilTag, and CCTag marker systems. With the help of a minimalist hardware system, we obtained a data set consisting of 13200 images. Based on the data set, we evaluated the three marker systems according to the following criteria: the distance between the camera and the marker, the intensity of light, the movement speed of the camera, the resistance to occlusion, and the performance of the algorithms. The results obtained show that ArUco is the fastest, detecting the marker in 2 ms. 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A fiducial marker is a 2D symbol that can be printed on a sheet of paper and glued to any flat surface to add distinctive characteristics to an environment. A system of fiducial markers consists of a set of unique fiducial markers that contain information and an algorithm that can recognize and process the respective information using images and videos. This paper describes an evaluation of the ArUco, AprilTag, and CCTag marker systems. With the help of a minimalist hardware system, we obtained a data set consisting of 13200 images. Based on the data set, we evaluated the three marker systems according to the following criteria: the distance between the camera and the marker, the intensity of light, the movement speed of the camera, the resistance to occlusion, and the performance of the algorithms. The results obtained show that ArUco is the fastest, detecting the marker in 2 ms. 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Series C, Electrical Engineering and Computer Science</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Patru, George-Cristian</au><au>Pırvan, Alina-Irina</au><au>Rosner, Daniel</au><au>Rughinis, Razvan-Victor</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>FIDUCIAL MARKER SYSTEMS OVERVIEW AND EMPIRICAL ANALYSIS OF ARUCO, APRILTAG AND CCTAG</atitle><jtitle>Scientific Bulletin. Series C, Electrical Engineering and Computer Science</jtitle><date>2023-01-01</date><risdate>2023</risdate><issue>2</issue><spage>49</spage><pages>49-</pages><issn>2286-3540</issn><abstract>The present paper advances an overview and comparison of existing fiducial marker systems. A fiducial marker is a 2D symbol that can be printed on a sheet of paper and glued to any flat surface to add distinctive characteristics to an environment. A system of fiducial markers consists of a set of unique fiducial markers that contain information and an algorithm that can recognize and process the respective information using images and videos. This paper describes an evaluation of the ArUco, AprilTag, and CCTag marker systems. With the help of a minimalist hardware system, we obtained a data set consisting of 13200 images. Based on the data set, we evaluated the three marker systems according to the following criteria: the distance between the camera and the marker, the intensity of light, the movement speed of the camera, the resistance to occlusion, and the performance of the algorithms. The results obtained show that ArUco is the fastest, detecting the marker in 2 ms. 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| ispartof | Scientific Bulletin. Series C, Electrical Engineering and Computer Science, 2023-01 (2), p.49 |
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| language | eng |
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| source | EZB-FREE-00999 freely available EZB journals |
| subjects | Algorithms Cameras Datasets Empirical analysis Flat surfaces Luminous intensity Occlusion |
| title | FIDUCIAL MARKER SYSTEMS OVERVIEW AND EMPIRICAL ANALYSIS OF ARUCO, APRILTAG AND CCTAG |
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