![]() ![]() However, this is not possible since for high marker sizes the number of bits is too high and managing such huge numbers is not practical. One may think that the marker id is the number obtained from converting the binary codification to a decimal base number. The aruco module includes some predefined dictionaries covering a range of different dictionary sizes and marker sizes. The marker size is the size of those markers (the number of bits).The dictionary size is the number of markers that compose the dictionary.The main properties of a dictionary are the dictionary size and the marker size. It is simply the list of binary codifications of each of its markers. This is also done based on the binary codification.Ī dictionary of markers is the set of markers that are considered in a specific application. It must be noted that a marker can be found rotated in the environment, however, the detection process needs to be able to determine its original rotation, so that each corner is identified unequivocally. The aruco functionalities are included in: "Automatic generation and detection of highly reliable fiducial markers under occlusion". The aruco module is based on the ArUco library, a popular library for detection of square fiducial markers developed by Rafael Muñoz and Sergio Garrido: ![]() Also, the inner binary codification makes them specially robust, allowing the possibility of applying error detection and correction techniques. The main benefit of these markers is that a single marker provides enough correspondences (its four corners) to obtain the camera pose. One of the most popular approaches is the use of binary square fiducial markers. This is usually a difficult step, and thus it is common to use synthetic or fiducial markers to make it easier. ![]() This process is based on finding correspondences between points in the real environment and their 2d image projection. Pose estimation is of great importance in many computer vision applications: robot navigation, augmented reality, and many more.
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