Awesome Fiducial Markers

A curated list of awesome fiducial marker resources for Computer Vision, Robotics, and Augmented Reality (AR).

📋 Table of Contents

[2023] VuMark (paper 📃, code 💻, docs 📂) | Customized marker designs with data encoding
[2021] Topotag (paper 📃, github 💻, docs 📂) | Robust and scalable topological marker system
[2021] Seedmarkers (paper 📃, github 💻, docs 📂) | Embeddable Markers for Physical Objects
[2019] STag (paper 📃, github 💻, ros 🤖, docs 📂) | A marker robust against jitter factors
[2017] ChromaTag (paper 📃, github 💻) | A colored marker with a fast detection algorithm
[2016] ARTTag (paper 📃) | Aesthetic fiducial markers based on circle pairs
[2010] Nishino-1 (paper 📃) | A 6DoF tracking method based on topological adjacency
[2012] Farkas et. al (paper 📃) | Aesthetic marker design for home robot localization
[2010] Nishino-2 (paper 📃) | | A shape-free, designable 6-DoF marker tracking method
[2010] Topolo Surface (paper 📃) | Topological region adjacency and angle information
[2009] SIFTTag (paper 📃) | Maximum detector response markers for SIFT and SURF
[2007] ReacTIVision (paper 📃, github 💻, docs 📂) | A framework for table-based tangible interaction
[2004] Visual Code (paper 📃) | Markers for interaction with camera phones
[2003] D-touch (paper 📃) | A consumer-grade tangible interface module
[2000] Cybercode (paper 📃) | A visual tagging system based on a 2D-barcode technology

[2018] RandomDot (paper 📃, code 💻, docs 📂) | Markers printed on transparent sheets
[2012] Pi-Tag (paper 📃, github 💻, ros 🤖) | A fast image-space marker design based on projective invariants
[2011] RUNE-Tag (paper 📃, github 💻, code 💻) | An accurate fiducial marker with strong occlusion resilience

[2017] WhyCode (paper 📃, github 💻, ros 🤖) | A precise, efficient, and low-cost localization system
[2015] WhyCon (paper 📃, github 💻, ros 🤖) | A precise, efficient, and low-cost localization system
[2014] BullsEye (paper 📃, web-page 🌐) | High-precision fiducial tracking for table-based tangible interaction
[2012] CC-Tag (paper 📃, paper 📃, github 💻, docs 📂) | A concentric circular marker for camera tracking
[2011] FourierTag (paper 📃, github 💻) | A smoothly degradable marker with configurable payload capacity
[2006] Cantag (paper 📃, code 💻, docs 📂) | An open source software toolkit for marker-based vision systems
[2002] Intersense (paper 📃) | A circular data matrix marker for wearable vision-inertial tracking
[1992] CCC (paper 📃) | Using concentric contrasting circles for feature extraction

[2019] Fractal Marker (paper 📃, code 💻, docs 📂) | Nested markers with several square markers
[2014] ArUco Marker (paper 📃, code 💻, ros 🤖, docs 📂) | Highly reliable fiducial markers under occlusion
[2011] AprilTag (paper 📃, github 💻, ros 🤖, docs 📂) | A visual fiducial system popular in robotics
[2010] CALTag (paper 📃, github 💻, docs 📂) | High precision markers for camera calibration
[2007] BinARyID (paper 📃) | An ID-based extension for marker tracking systems
[2007] ARToolKitPlus (paper 📃, github 💻) | Pose tracking system on mobile devices
[2005] ARTag (paper 📃, github (not-official) 💻) | A fiducial marker system using digital techniques
[1999] ARToolKit (paper 📃, github 💻, docs 📂) | A marker tracking and HMD calibration tool
[1998] Matrix (paper 📃) | Real-time object identification for augmented reality

[2023] DeepTag (paper 📃, github 💻, docs 📂) | A framework for robust fiducial marker design and detection
[2022] DynaTags (paper 📃, github 💻, web-page 🌐) | A low-cost dynamic paper-based fiducial marker
[2021] LiDARTag (paper 📃, github 💻) | A real-time fiducial tag system for point clouds

Please feel free to open pull requests to update the list.