Arwa-Fawzy/RGB-Marker-Detection

This repo contains related use cases of ArUco Marker for Computer Vision and object tracking. ArUco marker is used for pose estimation, camera calibration, and augmented reality to track object movement.

RGB Marker Detection

ArUco marker for pose estimation, camera calibration, and augmented reality to track object movement.

What is ArUco Markers?

ArUco markers are square or rectangular patterns of black and white squares used in computer vision for object tracking and pose estimation.

What is Open Source package can be used for this marker?

OpenCV: Open Source Computer Vision Library

How many ArUco Markers pattern provided in OpenCV?

The aruco module in OpenCV has a total of 25 predefined dictionaries of markers. All the markers in a dictionary contain the same number of blocks or bits(4×4, 5×5, 6×6 or 7×7), and each dictionary contains a fixed number of markers(50, 100, 250 or 1000).

Marker patterns available on the market

Name	Shape	Color	Encoding	Marker
AprilTag	Square	Monochrome	Topological
ARTag	Square	Monochrome	Topological
ARToolKit	Square	Monochrome	Topological
ArUco	Square	Monochrome	Topological
BullsEye	Circle	Monochrome	Topological
CATag	Square	Monochrome	Topological
CCC	Circle	Monochrome	Not Supported
CCTag	Circle	Monochrome	Topological
ChromaTag	Square	Multicolor	Topological
FourierTag	Circle	Grayscale	Freq. Spectrum
Multi-ring	Circle	Multicolor	Not Supported
Pi-Tag	Square	Monochrome	Topological
RuneTag	Circle	Monochrome	Topological
STag	Square	Monochrome	Topological
WhyCode	Circle	Monochrome	Topological

What are the requirments for the markers?

1. Distinct Pattern: ArUco markers must have a unique black and white pattern.
2. Contrast: The pattern should have clear contrast for reliable detection.
3. Size: Marker size should suit the application and distance from the camera.
4. Resolution: The pattern resolution should enable accurate detection.
5. Orientation: Markers should be detectable from any orientation.

What are the IDs of markers detected?

There are 5 samples of ArUco markers was printed in 3D cube shape, where each face has a marker pattern and one face is blank white.

What is the camera used for this code?

Intel(R) RealSense(TM) Depth Camera 435i

ArUco Marker detection output:

ArUco Marker Pose estimation output:

How to print new Marker?

There is an online public website called ArUco markers generator! and as shown, the marker should have Dictionary Name, ID, and size.

3D Marker Tracking