ArUcoE: Enhanced ArUco Marker

Kedilioglu O, Bocco TM, Landesberger M, Rizzo A, Franke J (2021)

Publication Type: Conference contribution, Original article

Publication year: 2021

Original Authors: Oguz Kedilioglu, Tomas Marcelo Bocco, Martin Landesberger, Alessandro Rizzo, Jorg Franke

Conference Proceedings Title: IEEE

Event location: Jeju KR

DOI: 10.23919/ICCAS52745.2021.9650050


This paper presents a novel fiducial marker type called ArUcoE. It is obtained from a standard ArUco marker by enhancing it with a chessboard-like pattern. With our approach the pose estimation accuracy of any ArUco marker can easily be increased. Further methods to increase the accuracy are analyzed. By applying a subpixel algorithm to the corner regions we are able to locate the corner points within a pixel and overcome the restriction of pixel-level accuracy. A deep-learning-based super-resolution method is used to artificially increase the pixel density in the same regions. Additionally, the effect of using a single and a stereo camera setup on the accuracy is shown.

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Kedilioglu, O., Bocco, T.M., Landesberger, M., Rizzo, A., & Franke, J. (2021). ArUcoE: Enhanced ArUco Marker. In IEEE. Jeju, KR.


Kedilioglu, Oguz, et al. "ArUcoE: Enhanced ArUco Marker." Proceedings of the 2021 21st International Conference on Control, Automation and Systems (ICCAS), Jeju 2021.

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