Aruco Markers white margin

asked 2018-07-24 10:18:47 -0500

vkg93 gravatar image


I'm currently running different tests to figure out the size of the white margin surrounding an aruco marker. When running the detection on a single marker, the results are best when the size of the white margin is at least as big as the black border of the marker. But running the detection on a grid of e.g. 4x6 markers the size of the white margin seems to be indifferent, since all detection results are the same. (I run it with white margin sizes 0.1cm, 0.5cm, 1cm with a marker size of 5cm) Why is that? Here is an example of my detection: image description C:\fakepath\aruco_smaller_size.png

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First step is to black our everything that has not a slightest possibility of being a marker. Therefore it first looks at a steep edge (created by the white border) to remove content around it. Then it starts looking in the masked out part for marker constructions. Therefore the inner borders do not really mind, but for single markers it can indeed make a difference (we noticed similar behaviour here).

StevenPuttemans gravatar imageStevenPuttemans ( 2018-07-25 04:09:54 -0500 )edit

Thanks for your answer! Do you have an explanation why this behaviour occurs?

vkg93 gravatar imagevkg93 ( 2018-07-25 08:25:16 -0500 )edit

We have not yet broken up the code to look further, but have a look at all the preprocessing steps.

StevenPuttemans gravatar imageStevenPuttemans ( 2018-07-25 09:32:34 -0500 )edit

I would really appreciate that!

vkg93 gravatar imagevkg93 ( 2018-07-30 08:00:33 -0500 )edit

I suggested you have a look :) because the following months in my schedule are to cramped to start this investigation.

StevenPuttemans gravatar imageStevenPuttemans ( 2018-08-03 03:32:27 -0500 )edit