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Questions tagged [aruco]

ArUco is a C++ library (based on OpenCV) for detection of squared planar markers. Use this tag for questions about using the library.

ArUco is a library that can detect a variety of markers in images and video. Intended for use with , it is based on and is available for a variety of platforms.

The author maintains a page that includes links to documentation and the download site on SourceForge.

329 questions
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How to improve Aruco Marker Pose Estimation?

I'm having a hard time estimating the positions of the Aruco markers with the camera. In my tests with the DICT_6X6_250 dictionary and the board with 4 markers of 20x20 cm on it, I measured at 6 meters with an error of 20-30 cm. I need more precise…
bariskplgz
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OpenCV - Improving marker detection on Charuco board

I am using OpenCV's aruco::CharucoBoard object for calibration purposes and noticed that its marker detection doesn't find all visible markers/corners in the images. I started investigate the matter and tried to detect the markers on the image of…
Zachi Shtain
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Aruco Marker World Coordinates

I've been working with Python's OpenCV library, using ArUco for object tracking. The goal is to get the x/y/z coordinates at the center of the ArUco marker, and the angle in relation to the calibrated camera. I am able to display axes on the aruco…
Karl Swanson
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C++ - Efficient way to compare vectors

At the moment i'm working with a camera to detect a marker. I use opencv and the Aruco Libary. Only I'm stuck with a problem right now. I need to detect if the distance between 2 marker is less than a specific value. I have a function to calculate…
Joris Mathijssen
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What is the correct way to average several ARUCO rotation vectors

I am writing a Eye On Hand Calibration Program. To do that, I am moving the camera mounted on the robot arm to 20 different positions, looking at a single aruco marker. The translation vector is very stable, but the rotation axes flicker,…
Dave B
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Understanding openCV aruco marker detection/pose estimation in detail: subpixel accuracy

I am currently studying openCV's 'aruco' module, especially focusing on the poseEstimation of ArUco markers and AprilTags. Looking into the subpixel accuracy, I have encountered a strange behaviour, which is demonstrated by the code below: If I do…
chris
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How to generate charuco board with ids offset

I am using Charuco marker from Opencv in python. I was previously using Aruco board where I had the option to create a board with and id offset (e.g: offset of 40). from cv2 import aruco as ar ar_dict =…
kastaa
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Get Camera Position and Rotation using Aruco Markers

I used the function cv.aruco.estimatePoseSingleMarkers() to get rvec and tvec. Using these two vectors how can I get the camera pose relative to the Aruco Marker? while (True): ret, frame = cap.read() gray = cv2.cvtColor(frame,…
Xron7
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How to detect aruco markers on low resolution image

I have an image where I want to detect aruco markers DICT_4X4_50. However, the image resolution seems to present itself as a major problem. But it is rather strange, since aruco detection function is able to detect markers on much difficult images,…
gonmrm
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Finding the center of an aruco marker

I have done pose estimation of the marker and obtained the rvec and tvec values. I do not know how to find it's center as I need to draw a cylinder which requires the center value. How do I go about it?
Yash Shah
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Improve accuracy of pose with bigger ArUco markers

Referring to the original question, would the pose accuracy of camera improve when a relatively larger marker of length say 0.65m is used?
slayer2309
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Relative rotation between pose (rvec)

I want to find the relative rotation angles between two Aruco markers, using python and cv2. I'm referring to my markers as the "test" marker and the "reference" marker. I have successfully retrieved the pose of the markers using…
Steve Osborne
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Unstable values in ArUco pose estimation

I'm trying to find the orientation of the camera using Aruco marker. Euler angles extracted from the rotation matrix are unstable beyond a certain point. As the distance of the camera increases from the marker, the yaw angle values of camera is just…
slayer2309
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OpenCV aruco not working in Python (windows)

I've been doing some work using aruco with c++ but I'll have to switch to python now. (I'm using windows 8, 64-bit Operating System, x64-based processor) I installed Python and the libraries I believe I'll need the following way: Downloaded and…
Mateus Zuliani
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opencv aruco estimatePoseSingleMarkers python

I am trying to find aruco markers using w10, python 3.6, opencv2. I can detect markers but fail on this step rvec, tvec = aruco.estimatePoseSingleMarkers(corners, markerLength, camera_matrix, dist_coeffs) # For a single marker I get this python…
juerg
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