Fiducial markers are widely used in various applications like robot navigation, logistics, augmented reality. Fig. 1. Applications of fiducial markers Advantages are obvious High contrast Simple code generation Resistance to extremal angles However, when we deal with a large number of markers, real-time recognition becomes challenging, especially on embedded devices with low power CPUs on-board.
Augmented Reality (AR) is one of the most popular and challenging fields in computer vision research. It allows supplementing the real world with some kind of digital content, for example, virtual 3D objects. The key feature of Augment Reality in comparison to other image processing tools is that virtual objects are moved and rotated in 3D coordinates instead of 2D image coordinates.