Flexible Tag Layouts for the AprilTag Fiducial System (Under Review)


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We propose the idea of flexible tag layouts for visual fiducial systems. In contrast to traditional square tags, flexible tag layouts allow circular, annular, or other shapes as desired. Layout flexibility also allows the data density of square shaped tags to be increased at the cost of a minor decrease in detection distance and pose estimation accuracy by decreasing the size of the detection border. In addition, we describe a detector that is faster and has higher recall than either the AprilTag 2 or the ArUco detectors.

The source code is available on GitHub.


    AUTHOR     = {Maximilian Krogius and Acshi Haggenmiller and Edwin Olson},
    TITLE      = {Flexible Tag Layouts for the {AprilTag} Fiducial System (Under
    NOTE       = {Under Review},