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I am using apriltag to detect fiducial markers and estimate the pose of the marker. I intend to use the markers on curved surfaces however apriltag seems to not be able to estimate curved markers very successfully (e.g. on a coffee mug). Is there any way I could try of estimating the pose of a marker on a curved surface? I have seen some custom markers that are designed for curved surfaces but the code isn't open source.

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The above gif is an example I recorded of apriltag struggling with curved surfaces.

Joe Moore
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    it's not made for curved surfaces. it assumes that all four sides present as straight lines. if you need curved markers to work, you'll need a detector that _expects_ curved surfaces. – Christoph Rackwitz Aug 03 '22 at 12:23
  • @ChristophRackwitz as I feared, yes. I've had a look for curved markers, but it seems as if most are proprietary. Instead, I've found a method that doesn't make use of curved surfaces in the meantime. Thank you for your answer. – Joe Moore Aug 03 '22 at 13:58

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