{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,13]],"date-time":"2026-03-13T16:53:23Z","timestamp":1773420803303,"version":"3.50.1"},"reference-count":146,"publisher":"Association for Computing Machinery (ACM)","issue":"9","funder":[{"DOI":"10.13039\/501100002322","name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","doi-asserted-by":"publisher","award":["001"],"award-info":[{"award-number":["001"]}],"id":[{"id":"10.13039\/501100002322","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100017425","name":"Pr\u00f3-Reitoria de Pesquisa e P\u00f3s-Gradua\u00e7\u00e3o, Universidade Federal do Par\u00e1","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100017425","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Comput. Surv."],"published-print":{"date-parts":[[2026,7,31]]},"abstract":"<jats:p>Applications using fiducial markers have evolved across sectors such as industry, health, and education. Markers are effective because their highly distinguishable visual patterns and varied morphologies allow for high-accuracy pose estimation. However, designing a robust fiducial marker system is difficult and requires specific strategies to ensure reliability for applications such as photogrammetry and robot localization. This study aims to address this challenge through a systematic study of 88 articles selected using snowball methodology. This study focused on marker design characteristics to analyze different types of robustness. The goal of this study was to formally define fiducial markers, explore their intrinsic and extrinsic characteristics, and produce a taxonomy covering morphological and algorithmic aspects. The primary outcome is a comprehensive taxonomy and theoretical framework that provides best practices, guiding researchers in developing or employing robust fiducial markers tailored to their specific applications.<\/jats:p>","DOI":"10.1145\/3793661","type":"journal-article","created":{"date-parts":[[2026,1,24]],"date-time":"2026-01-24T21:07:38Z","timestamp":1769288858000},"page":"1-35","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Artificial Markers: A Comprehensive Systematic Review and Design Framework"],"prefix":"10.1145","volume":"58","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0218-3782","authenticated-orcid":false,"given":"Benedito","family":"Ribeiro Neto","sequence":"first","affiliation":[{"name":"Departamento de ensino, pesquisa, pos-gradua\u00e7\u00e3o, inova\u00e7\u00e3o e extens\u00e3o. Campus Camet\u00e1, IFPA","place":["Camet\u00e1, Brazil"]}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5872-4827","authenticated-orcid":false,"given":"Bianchi","family":"Meiguins","sequence":"additional","affiliation":[{"name":"ICEN, Universidade Federal do Par\u00e1","place":["Bel\u00e9m, Brazil"]}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4971-9951","authenticated-orcid":false,"given":"Tiago","family":"Ara\u00fajo","sequence":"additional","affiliation":[{"name":"University of Aveiro","place":["Oliveira de Azem\u00e9is, Portugal"]}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2193-5783","authenticated-orcid":false,"given":"Carlos","family":"dos Santos","sequence":"additional","affiliation":[{"name":"ICEN, Universidade Federal do Par\u00e1","place":["Bel\u00e9m, Brazil"]}]}],"member":"320","published-online":{"date-parts":[[2026,2,25]]},"reference":[{"key":"e_1_3_1_2_2","unstructured":"ISO\/IEC 18004. 2000. IEC 18004: 2000 Information Technology\u2014Automatic Identification and Data Capture Techniques\u2014Bar Code Symbology\u2013QR Code. Vol. 2000."},{"key":"e_1_3_1_3_2","first-page":"41","volume-title":"VMV","author":"Atcheson Bradley","year":"2010","unstructured":"Bradley Atcheson, Felix Heide, and Wolfgang Heidrich. 2010. Caltag: High precision fiducial markers for camera calibration. In VMV, Vol. 10. 41\u201348."},{"key":"e_1_3_1_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/SAS51076.2021.9530091"},{"key":"e_1_3_1_5_2","doi-asserted-by":"crossref","unstructured":"Michael T. Battista and Douglas H. Clements. 1996. Students\u2019 understanding of three-dimensional rectangular arrays of cubes. Journal for Research in Mathematics Education 27 3 (1996) 258\u2013292.","DOI":"10.5951\/jresematheduc.27.3.0258"},{"key":"e_1_3_1_6_2","doi-asserted-by":"crossref","unstructured":"Fabian Beck Sebastian Koch and Daniel Weiskopf. 2015. Visual analysis and dissemination of scientific literature collections with SurVis. IEEE Transactions on Visualization and Computer Graphics 22 1 (2015) 180\u2013189.","DOI":"10.1109\/TVCG.2015.2467757"},{"key":"e_1_3_1_7_2","doi-asserted-by":"crossref","unstructured":"Mafkereseb Kassahun Bekele Roberto Pierdicca Emanuele Frontoni Eva Savina Malinverni and James Gain. 2018. A survey of augmented virtual and mixed reality for cultural heritage. Journal on Computing and Cultural Heritage 11 2 (2018) 1\u201336.","DOI":"10.1145\/3145534"},{"key":"e_1_3_1_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2005.475"},{"key":"e_1_3_1_9_2","doi-asserted-by":"publisher","unstructured":"Burak Benligiray Cihan Topal and Cuneyt Akinlar. 2019. STag: A stable fiducial marker system. Image and Vision Computing 89 (2019) 158\u2013169. DOI:10.1016\/j.imavis.2019.06.007","DOI":"10.1016\/j.imavis.2019.06.007"},{"key":"e_1_3_1_10_2","doi-asserted-by":"crossref","unstructured":"Filippo Bergamasco Andrea Albarelli Luca Cosmo Emanuele Rodola and Andrea Torsello. 2016. An accurate and robust artificial marker based on cyclic codes. IEEE Transactions on Pattern Analysis and Machine Intelligence 38 12 (2016) 2359\u20132373.","DOI":"10.1109\/TPAMI.2016.2519024"},{"key":"e_1_3_1_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2011.5995544"},{"key":"e_1_3_1_12_2","doi-asserted-by":"crossref","unstructured":"Filippo Bergamasco Andrea Albarelli and Andrea Torsello. 2013. Pi-tag: A fast image-space marker design based on projective invariants. Machine Vision and Applications 24 6 (2013) 1295\u20131310.","DOI":"10.1007\/s00138-012-0469-6"},{"key":"e_1_3_1_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/3DV.2016.65"},{"key":"e_1_3_1_14_2","doi-asserted-by":"publisher","DOI":"10.2514\/6.2007-6185"},{"key":"e_1_3_1_15_2","doi-asserted-by":"crossref","unstructured":"David Bouget Max Allan Danail Stoyanov and Pierre Jannin. 2017. Vision-based and marker-less surgical tool detection and tracking: A review of the literature. Medical Image Analysis 35 (2017) 633\u2013654.","DOI":"10.1016\/j.media.2016.09.003"},{"key":"e_1_3_1_16_2","doi-asserted-by":"crossref","unstructured":"Giulia Buffi Piergiorgio Manciola Silvia Grassi Marco Barberini and Andrea Gambi. 2017. Survey of the Ridracoli Dam: UAV\u2013based photogrammetry and traditional topographic techniques in the inspection of vertical structures. Geomatics Natural Hazards and Risk 8 2 (2017) 1562\u20131579.","DOI":"10.1080\/19475705.2017.1362039"},{"key":"e_1_3_1_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.67"},{"key":"e_1_3_1_18_2","doi-asserted-by":"crossref","unstructured":"Julie Carmigniani Borko Furht Marco Anisetti Paolo Ceravolo Ernesto Damiani and Misa Ivkovic. 2011. Augmented reality technologies systems and applications. Multimedia Tools and Applications 51 1 (2011) 341\u2013377.","DOI":"10.1007\/s11042-010-0660-6"},{"key":"e_1_3_1_19_2","doi-asserted-by":"publisher","DOI":"10.1145\/3573382.3616071"},{"key":"e_1_3_1_20_2","doi-asserted-by":"publisher","DOI":"10.1051\/matecconf\/201815203001"},{"key":"e_1_3_1_21_2","volume-title":"In IWAR","author":"Cho Youngkwan","year":"1998","unstructured":"Youngkwan Cho, Jongweon Lee, and Ulrich Neumann. 1998. A multi-ring color fiducial system and an intensity-invariant detection method for scalable fiducial-tracking augmented reality. In In IWAR. Citeseer."},{"key":"e_1_3_1_22_2","doi-asserted-by":"publisher","unstructured":"Rafael Marques Claro Diogo Brand\u00e3o Silva and Andry Maykol Pinto. 2023. ArTuga: A novel multimodal fiducial marker for aerial robotics. Robotics and Autonomous Systems 163 (2023) 104398. DOI:10.1016\/j.robot.2023.104398","DOI":"10.1016\/j.robot.2023.104398"},{"key":"e_1_3_1_23_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-24673-2_38"},{"key":"e_1_3_1_24_2","unstructured":"Enrico Costanza and John Robinson. 2003. A region adjacency tree approach to the detection and design of fiducials. In Proceedings of the Vision Video and Graphics Conference (VVG). Eurographics Association 105\u2013112."},{"key":"e_1_3_1_25_2","doi-asserted-by":"crossref","unstructured":"Heriberto Cruz-Hern\u00e1ndez and Luis Gerardo de la Fraga. 2018. A fiducial tag invariant to rotation translation and perspective transformations. Pattern Recognition 81 (2018) 213\u2013223.","DOI":"10.1016\/j.patcog.2018.03.024"},{"key":"e_1_3_1_26_2","first-page":"234","volume-title":"Latin American Robotics Symposium","author":"J\u00fanior Alexandre de Oliveira","year":"2021","unstructured":"Alexandre de Oliveira J\u00fanior, Luis Piardi, Eduardo Giometti Bertogna, and Paulo Leit\u00e3o. 2021. Improving the mobile robots indoor localization system by combining slam with fiducial markers. In Latin American Robotics Symposium. IEEE, 234\u2013239."},{"key":"e_1_3_1_27_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.164"},{"key":"e_1_3_1_28_2","doi-asserted-by":"crossref","unstructured":"Anthony I. Dell John A. Bender Kristin Branson Iain D. Couzin Gonzalo G. de Polavieja Lucas P. J. J. Noldus Alfonso P\u00e9rez-Escudero Pietro Perona Andrew D. Straw Martin Wikelski et\u00a0al. 2014. Automated image-based tracking and its application in ecology. Trends in Ecology & Evolution 29 7 (2014) 417\u2013428.","DOI":"10.1016\/j.tree.2014.05.004"},{"key":"e_1_3_1_29_2","doi-asserted-by":"publisher","DOI":"10.1109\/AVSS.2005.1577306"},{"key":"e_1_3_1_30_2","doi-asserted-by":"crossref","unstructured":"Francesca Digiacomo Francesco Bologna Francesco Inglese Cesare Stefanini and Mario Milazzo. 2021. MechaTag: A mechanical fiducial marker and the detection algorithm. Journal of Intelligent & Robotic Systems 103 3 (2021) 46.","DOI":"10.1007\/s10846-021-01507-x"},{"key":"e_1_3_1_31_2","doi-asserted-by":"publisher","DOI":"10.1145\/3623263.3623353"},{"key":"e_1_3_1_32_2","first-page":"1","volume-title":"CHI Conference on Human Factors in Computing Systems","author":"Dogan Mustafa Doga","year":"2020","unstructured":"Mustafa Doga Dogan, Faraz Faruqi, Andrew Day Churchill, Kenneth Friedman, Leon Cheng, Sriram Subramanian, and Stefanie Mueller. 2020. G-ID: Identifying 3D prints using slicing parameters. In CHI Conference on Human Factors in Computing Systems. 1\u201313."},{"key":"e_1_3_1_33_2","doi-asserted-by":"publisher","DOI":"10.1145\/3491102.3501951"},{"key":"e_1_3_1_34_2","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS-Genova.2015.7271491"},{"key":"e_1_3_1_35_2","volume-title":"Online Etymology Dictionary","author":"Douglas Harper","year":"2023","unstructured":"Harper Douglas. 2023. Online Etymology Dictionary. Retrieved from https:\/\/www.etymonline.com\/"},{"key":"e_1_3_1_36_2","volume-title":"Content Analysis","author":"Drisko James W.","year":"2016","unstructured":"James W. Drisko and Tina Maschi. 2016. Content Analysis. Oxford University Press, USA."},{"key":"e_1_3_1_37_2","first-page":"1427","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Elbrechter Christof","year":"2011","unstructured":"Christof Elbrechter, Robert Haschke, and Helge Ritter. 2011. Bi-manual robotic paper manipulation based on real-time marker tracking and physical modelling. In IEEE\/RSJ International Conference on Intelligent Robots and Systems. IEEE, 1427\u20131432."},{"key":"e_1_3_1_38_2","doi-asserted-by":"crossref","unstructured":"Ram Fabian and David Malah. 1991. Robust identification of motion and out-of-focus blur parameters from blurred and noisy images. CVGIP: Graphical Models and Image Processing 53 5 (1991) 403\u2013412.","DOI":"10.1016\/1049-9652(91)90025-F"},{"key":"e_1_3_1_39_2","doi-asserted-by":"publisher","DOI":"10.1109\/IECON.2012.6388951"},{"key":"e_1_3_1_40_2","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2005.74"},{"key":"e_1_3_1_41_2","doi-asserted-by":"publisher","DOI":"10.1109\/HAVE.2005.1545669"},{"key":"e_1_3_1_42_2","doi-asserted-by":"crossref","unstructured":"Mark Fiala. 2009. Designing highly reliable fiducial markers. IEEE Transactions on Pattern Analysis and Machine Intelligence 32 7 (2009) 1317\u20131324.","DOI":"10.1109\/TPAMI.2009.146"},{"key":"e_1_3_1_43_2","doi-asserted-by":"publisher","unstructured":"Daniel Flohr and Jan Fischer. 2007. A lightweight ID-based extension for marker tracking systems. In Eurographics Symposium on Virtual Environments Short Papers and Posters Bernd Froehlich Roland Blach and Robert van Liere (Eds.). The Eurographics Association. DOI:10.2312\/PE\/VE2007Short\/059-064","DOI":"10.2312\/PE\/VE2007Short\/059-064"},{"key":"e_1_3_1_44_2","doi-asserted-by":"publisher","unstructured":"Pablo Garc\u00eda-Ruiz Francisco J. Romero-Ramirez Rafael Mu\u00f1oz-Salinas Manuel J. Mar\u00edn-Jim\u00e9nez and Rafael Medina-Carnicer. 2023. Fiducial objects: Custom design and evaluation. Sensors 23 24 (2023). DOI:10.3390\/s23249649","DOI":"10.3390\/s23249649"},{"key":"e_1_3_1_45_2","doi-asserted-by":"crossref","unstructured":"Sergio Garrido-Jurado Rafael Mu\u00f1oz-Salinas Francisco Jos\u00e9 Madrid-Cuevas and Manuel Jes\u00fas Mar\u00edn-Jim\u00e9nez. 2014. Automatic generation and detection of highly reliable fiducial markers under occlusion. Pattern Recognition 47 6 (2014) 2280\u20132292.","DOI":"10.1016\/j.patcog.2014.01.005"},{"key":"e_1_3_1_46_2","doi-asserted-by":"publisher","DOI":"10.1117\/12.56761"},{"key":"e_1_3_1_47_2","doi-asserted-by":"publisher","DOI":"10.1145\/3430524.3440645"},{"key":"e_1_3_1_48_2","unstructured":"Oleg Grinchuk Vadim Lebedev and Victor Lempitsky. 2016. Learnable Visual Markers. In Advances in Neural Information Processing Systems D. Lee M. Sugiyama U. Luxburg I. Guyon and R. Garnett (Eds.). Curran Associates Inc. Vol. 29. https:\/\/proceedings.neurips.cc\/paper_files\/paper\/2016\/file\/2d405b367158e3f12d7c1e31a96b3af3-Paper.pdf"},{"key":"e_1_3_1_49_2","doi-asserted-by":"crossref","unstructured":"Ho-Gun Ha and Jaesung Hong. 2016. Augmented reality in medicine. Hanyang Medical Reviews 36 4 (2016) 242\u2013247.","DOI":"10.7599\/hmr.2016.36.4.242"},{"key":"e_1_3_1_50_2","doi-asserted-by":"publisher","DOI":"10.1145\/2945078.2945116"},{"key":"e_1_3_1_51_2","volume-title":"Vuforia Developer Library","author":"Inc PTC","year":"2023","unstructured":"PTC Inc. 2023. Vuforia Developer Library. Retrieved from https:\/\/library.vuforia.com\/objects\/vumarks\/"},{"key":"e_1_3_1_52_2","doi-asserted-by":"crossref","unstructured":"David Jurado-Rodr\u00edguez Rafael Mu\u00f1oz-Salinas Sergio Garrido-Jurado and Rafael Medina-Carnicer. 2021. Design detection and tracking of customized fiducial markers. IEEE Access 9 (2021) 140066\u2013140078.","DOI":"10.1109\/ACCESS.2021.3118049"},{"key":"e_1_3_1_53_2","doi-asserted-by":"crossref","unstructured":"Mansur Kabuka and A. Arenas. 1987. Position verification of a mobile robot using standard pattern. IEEE Journal on Robotics and Automation 3 6 (1987) 505\u2013516.","DOI":"10.1109\/JRA.1987.1087143"},{"key":"e_1_3_1_54_2","doi-asserted-by":"crossref","unstructured":"Michail Kalaitzakis Brennan Cain Sabrina Carroll Anand Ambrosi Camden Whitehead and Nikolaos Vitzilaios. 2021. Fiducial markers for pose estimation. Journal of Intelligent & Robotic Systems 101 4 (2021) 1\u201326.","DOI":"10.1007\/s10846-020-01307-9"},{"key":"e_1_3_1_55_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS48674.2020.9213977"},{"key":"e_1_3_1_56_2","doi-asserted-by":"publisher","DOI":"10.1109\/IWAR.1999.803809"},{"key":"e_1_3_1_57_2","doi-asserted-by":"publisher","DOI":"10.1061\/9780784482865.025"},{"key":"e_1_3_1_58_2","doi-asserted-by":"crossref","unstructured":"Dawar Khan Zhanglin Cheng Hideaki Uchiyama Sikandar Ali Muhammad Asshad and Kiyoshi Kiyokawa. 2022. Recent advances in vision-based indoor navigation: A systematic literature review. Computers & Graphics 104 (2022) 24\u201345.","DOI":"10.1016\/j.cag.2022.03.005"},{"key":"e_1_3_1_59_2","doi-asserted-by":"crossref","unstructured":"Dawar Khan Alexander Plopski Yuichiro Fujimoto Masayuki Kanbara Gul Jabeen Yongjie Jessica Zhang Xiaopeng Zhang and Hirokazu Kato. 2020. Surface remeshing: A systematic literature review of methods and research directions. IEEE Transactions on Visualization and Computer Graphics 28 3 (2020) 1680\u20131713.","DOI":"10.1109\/TVCG.2020.3016645"},{"key":"e_1_3_1_60_2","doi-asserted-by":"publisher","DOI":"10.1109\/AIM.2010.5695801"},{"key":"e_1_3_1_61_2","doi-asserted-by":"crossref","unstructured":"Hiroaki Kitano. 2002. Computational systems biology. Nature 420 6912 (2002) 206\u2013210.","DOI":"10.1038\/nature01254"},{"key":"e_1_3_1_62_2","unstructured":"Barbara Kitchenham and Stuart Charters. 2007. Guidelines for Performing Systematic Literature Reviews in Software Engineering. Technical Report EBSE-2007-01. Keele University and Durham University Joint Report."},{"key":"e_1_3_1_63_2","first-page":"269","volume-title":"ACM International Conference on Interactive Tabletops and Surfaces","author":"Klokmose Clemens N.","year":"2014","unstructured":"Clemens N. Klokmose, Janus B. Kristensen, Rolf Bagge, and Kim Halskov. 2014. BullsEye: High-precision fiducial tracking for table-based tangible interaction. In ACM International Conference on Interactive Tabletops and Surfaces. 269\u2013278."},{"key":"e_1_3_1_64_2","doi-asserted-by":"crossref","unstructured":"Milan Ko\u0161t\u2019\u00e1k and Anton\u00edn Slab\u1ef3. 2021. Designing a simple fiducial marker for localization in spatial scenes using neural networks. Sensors 21 16 (2021) 5407.","DOI":"10.3390\/s21165407"},{"key":"e_1_3_1_65_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967787"},{"key":"e_1_3_1_66_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-05582-4_75"},{"key":"e_1_3_1_67_2","doi-asserted-by":"publisher","DOI":"10.1145\/3126594.3126635"},{"key":"e_1_3_1_68_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICCSNT.2012.6526185"},{"key":"e_1_3_1_69_2","doi-asserted-by":"crossref","unstructured":"Yu Li Yong-Tian Wang and Yue Liu. 2007. Fiducial marker based on projective invariant for augmented reality. Journal of Computer Science and Technology 22 6 (2007) 890\u2013897.","DOI":"10.1007\/s11390-007-9100-0"},{"key":"e_1_3_1_70_2","doi-asserted-by":"publisher","DOI":"10.1145\/3639473.3665790"},{"key":"e_1_3_1_71_2","doi-asserted-by":"crossref","unstructured":"Peter Lightbody Tom\u00e1\u0161 Krajn\u00edk and Marc Hanheide. 2017. An efficient visual fiducial localisation system. ACM SIGAPP Applied Computing Review 17 3 (2017) 28\u201337.","DOI":"10.1145\/3161534.3161537"},{"key":"e_1_3_1_72_2","unstructured":"Aixin Liu Bei Feng Bin Wang Bingxuan Wang Bo Liu Chenggang Zhao Chengqi Dengr Chong Ruan Damai Dai Daya Guo et\u00a0al. 2024. Deepseek-v2: A strong economical and efficient mixture-of-experts language model. arXiv:2405.04434. Retrieved from https:\/\/arxiv.org\/abs2405.04434"},{"key":"e_1_3_1_73_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICVRV.2013.25"},{"key":"e_1_3_1_74_2","doi-asserted-by":"crossref","unstructured":"Yang Liu Ximin Cui Qiang Wang and Yanbiao Sun. 2023. Improved identification for point-distributed coded targets with self-adaption and high accuracy in photogrammetry. Remote Sensing 15 11 (2023) 2859.","DOI":"10.3390\/rs15112859"},{"key":"e_1_3_1_75_2","doi-asserted-by":"crossref","unstructured":"Henrique Teles Maia Dingzeyu Li Yuan Yang and Changxi Zheng. 2019. LayerCode: Optical barcodes for 3D printed shapes. ACM Transactions on Graphics (TOG) 38 4 (2019) 1\u201314.","DOI":"10.1145\/3306346.3322960"},{"key":"e_1_3_1_76_2","doi-asserted-by":"publisher","DOI":"10.22260\/ISARC2019\/0011"},{"key":"e_1_3_1_77_2","unstructured":"Luis A. Mateos. 2020. Apriltags 3d: Dynamic fiducial markers for robust pose estimation in highly reflective environments and indirect communication in swarm robotics. arXiv:2001.08622. Retrieved from https:\/\/arxiv.org\/abs2001.08622"},{"key":"e_1_3_1_78_2","doi-asserted-by":"crossref","unstructured":"Paulo R. S. Mendon\u00e7a Andy Hopper et\u00a0al. 2002. TRIP: A low-cost vision-based location system for ubiquitous computing. Personal and Ubiquitous Computing 6 3 (2002) 206\u2013219.","DOI":"10.1007\/s007790200020"},{"key":"e_1_3_1_79_2","doi-asserted-by":"crossref","unstructured":"Matteo Menolotto Dimitrios-Sokratis Komaris Salvatore Tedesco Brendan O\u2019Flynn and Michael Walsh. 2020. Motion capture technology in industrial applications: A systematic review. Sensors 20 19 (2020) 5687.","DOI":"10.3390\/s20195687"},{"key":"e_1_3_1_80_2","doi-asserted-by":"crossref","unstructured":"V\u00edctor Mond\u00e9jar-Guerra Sergio Garrido-Jurado Rafael Mu\u00f1oz-Salinas Manuel J. Mar\u00edn-Jim\u00e9nez and Rafael Medina-Carnicer. 2018. Robust identification of fiducial markers in challenging conditions. Expert Systems with Applications 93 (2018) 336\u2013345.","DOI":"10.1016\/j.eswa.2017.10.032"},{"key":"e_1_3_1_81_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICME.2006.262777"},{"key":"e_1_3_1_82_2","doi-asserted-by":"crossref","unstructured":"Anca Morar Alin Moldoveanu Irina Mocanu Florica Moldoveanu Ion Emilian Radoi Victor Asavei Alexandru Gradinaru and Alex Butean. 2020. A comprehensive survey of indoor localization methods based on computer vision. Sensors 20 9 (2020) 2641.","DOI":"10.3390\/s20092641"},{"key":"e_1_3_1_83_2","doi-asserted-by":"crossref","unstructured":"Andrea Motroni Alice Buffi and Paolo Nepa. 2021. A survey on indoor vehicle localization through RFID technology. IEEE Access 9 (2021) 17921\u201317942.","DOI":"10.1109\/ACCESS.2021.3052316"},{"key":"e_1_3_1_84_2","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR.2002.1115065"},{"key":"e_1_3_1_85_2","doi-asserted-by":"crossref","unstructured":"Rana Sabah Naser Meng Chun Lam Faizan Qamar and BB Zaidan. 2023. Smartphone-based indoor localization systems: A systematic literature review. Electronics 12 8 (2023) 1814.","DOI":"10.3390\/electronics12081814"},{"key":"e_1_3_1_86_2","doi-asserted-by":"publisher","unstructured":"Benedito S. R. Neto Tiago D. O. Ara\u00fajo Bianchi S. Meiguins and Carlos G. R. Santos. 2024. Tape-shaped multiscale and continuous-readable fiducial marker for indoor navigation and localization systems. Sensors 24 14 (2024). DOI:10.3390\/s24144605","DOI":"10.3390\/s24144605"},{"key":"e_1_3_1_87_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICPR.2016.7899776"},{"key":"e_1_3_1_88_2","doi-asserted-by":"publisher","DOI":"10.1145\/1709886.1709937"},{"key":"e_1_3_1_89_2","doi-asserted-by":"publisher","DOI":"10.1145\/1873951.1874148"},{"key":"e_1_3_1_90_2","doi-asserted-by":"crossref","unstructured":"Hiroki Nishino. 2010. Topolo surface: A 2d fiducial tracking system based on topological region adjacency and angle information. Information and Media Technologies 5 2 (2010) 479\u2013488.","DOI":"10.2197\/ipsjjip.18.16"},{"key":"e_1_3_1_91_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS55552.2023.10341885"},{"key":"e_1_3_1_92_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICPR.1990.119365"},{"key":"e_1_3_1_93_2","volume-title":"Colorimetry: Fundamentals and Applications","author":"Ohta Noboru","year":"2006","unstructured":"Noboru Ohta and Alan Robertson. 2006. Colorimetry: Fundamentals and Applications. John Wiley & Sons."},{"key":"e_1_3_1_94_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979561"},{"key":"e_1_3_1_95_2","doi-asserted-by":"crossref","unstructured":"Angela G. M. O\u2019Neill Suneil Jain Alan R. Hounsell and Joe M. O\u2019Sullivan. 2016. Fiducial marker guided prostate radiotherapy: A review. The British Journal of Radiology 89 1068 (2016) 20160296.","DOI":"10.1259\/bjr.20160296"},{"key":"e_1_3_1_96_2","doi-asserted-by":"crossref","unstructured":"Anil Singh Parihar Kavinder Singh Hrithik Rohilla and Gul Asnani. 2021. Fusion-based simultaneous estimation of reflectance and illumination for low-light image enhancement. IET Image Processing 15 7 (2021) 1410\u20131423.","DOI":"10.1049\/ipr2.12114"},{"key":"e_1_3_1_97_2","doi-asserted-by":"publisher","DOI":"10.5244\/C.34.184"},{"key":"e_1_3_1_98_2","doi-asserted-by":"crossref","unstructured":"Fabien Pierre J.-F. Aujol Aur\u00e9lie Bugeau Nicolas Papadakis and V.-T. Ta. 2015. Luminance-chrominance model for image colorization. SIAM Journal on Imaging Sciences 8 1 (2015) 536\u2013563.","DOI":"10.1137\/140979368"},{"key":"e_1_3_1_99_2","doi-asserted-by":"publisher","DOI":"10.1109\/WACV.2015.41"},{"key":"e_1_3_1_100_2","doi-asserted-by":"publisher","DOI":"10.1109\/APCHI.1998.704151"},{"key":"e_1_3_1_101_2","doi-asserted-by":"publisher","DOI":"10.1145\/354666.354667"},{"key":"e_1_3_1_102_2","doi-asserted-by":"crossref","unstructured":"G\u00fcnther Retscher. 2022. Indoor navigation\u2013user requirements state-of-the-art and developments for smartphone localization. Geomatics 3 1 (2022) 1\u201346.","DOI":"10.3390\/geomatics3010001"},{"key":"e_1_3_1_103_2","first-page":"239","volume-title":"International Conference on Computer Graphics, Visualization and Computer Vision 2012, WSCG\u20192012","author":"Reuter Alexander","year":"2012","unstructured":"Alexander Reuter, Hans-Peter Seidel, and Ivo Ihrke. 2012. BlurTags: Spatially varying PSF estimation with out-of-focus patterns. In International Conference on Computer Graphics, Visualization and Computer Vision 2012, WSCG\u20192012. 239\u2013247."},{"key":"e_1_3_1_104_2","doi-asserted-by":"publisher","DOI":"10.1109\/PERCOM.2006.13"},{"key":"e_1_3_1_105_2","first-page":"74","volume-title":"International Symposium on Ubiquitious Computing Systems","author":"Rohs Michael","year":"2004","unstructured":"Michael Rohs. 2004. Real-world interaction with camera phones. In International Symposium on Ubiquitious Computing Systems. Springer, 74\u201389."},{"key":"e_1_3_1_106_2","doi-asserted-by":"crossref","unstructured":"Francisco J. Romero-Ramire Rafael Munoz-Salinas and Rafael Medina-Carnicer. 2019. Fractal markers: A new approach for long-range marker pose estimation under occlusion. IEEE Access 7 (2019) 169908\u2013169919.","DOI":"10.1109\/ACCESS.2019.2951204"},{"key":"e_1_3_1_107_2","doi-asserted-by":"crossref","unstructured":"Francisco J. Romero-Ramirez Rafael Mu\u00f1oz-Salinas Manuel J. Mar\u00edn-Jim\u00e9nez Miguel Cazorla and Rafael Medina-Carnicer. 2023. sSLAM: Speeded-up visual slam mixing artificial markers and temporary keypoints. Sensors 23 4 (2023) 2210.","DOI":"10.3390\/s23042210"},{"key":"e_1_3_1_108_2","doi-asserted-by":"crossref","unstructured":"Francisco J. Romero-Ramirez Rafael Mu\u00f1oz-Salinas and Rafael Medina-Carnicer. 2018. Speeded up detection of squared fiducial markers. Image and Vision Computing 76 (2018) 38\u201347.","DOI":"10.1016\/j.imavis.2018.05.004"},{"key":"e_1_3_1_109_2","doi-asserted-by":"publisher","DOI":"10.1109\/IECON48115.2021.9589442"},{"key":"e_1_3_1_110_2","doi-asserted-by":"publisher","DOI":"10.1109\/VR.2007.352465"},{"key":"e_1_3_1_111_2","doi-asserted-by":"publisher","DOI":"10.1109\/VR.2006.114"},{"key":"e_1_3_1_112_2","doi-asserted-by":"publisher","DOI":"10.1109\/CRV.2007.34"},{"key":"e_1_3_1_113_2","doi-asserted-by":"publisher","DOI":"10.1145\/3536221.3556591"},{"key":"e_1_3_1_114_2","first-page":"145","volume-title":"VMV","author":"Schweiger Florian","year":"2009","unstructured":"Florian Schweiger, Bernhard Zeisl, Pierre Fite Georgel, Georg Schroth, Eckehard G. Steinbach, and Nassir Navab. 2009. Maximum detector response markers for SIFT and SURF. In VMV, Vol. 10. Citeseer, 145\u2013154."},{"key":"e_1_3_1_115_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICTER.2017.8257826"},{"key":"e_1_3_1_116_2","doi-asserted-by":"crossref","unstructured":"Walter CSS Sim\u00f5es Guido S. Machado Andre Sales Mateus M. de Lucena Nasser Jazdi and Vicente F. de Lucena. 2020. A review of technologies and techniques for indoor navigation systems for the visually impaired. Sensors 20 14 (2020) 3935.","DOI":"10.3390\/s20143935"},{"key":"e_1_3_1_117_2","doi-asserted-by":"publisher","DOI":"10.1109\/VR.2007.352495"},{"key":"e_1_3_1_118_2","doi-asserted-by":"crossref","unstructured":"Earle J. Timothy. 1995. A 2-D symbology application at ups. Sensor Review 15 1 (1995) 40\u201342.","DOI":"10.1108\/EUM0000000004262"},{"key":"e_1_3_1_119_2","unstructured":"Ali Tourani Deniz Isinsu Avsar Hriday Bavle Jose Luis Sanchez-Lopez Jan Lagerwall and Holger Voos. 2025. Unveiling the potential of iMarkers: Invisible fiducial markers for advanced robotics. arXiv:2501.15505. Retrieved from https:\/\/arxiv.org\/abs2501.15505"},{"key":"e_1_3_1_120_2","doi-asserted-by":"publisher","DOI":"10.1109\/CW.2013.58"},{"key":"e_1_3_1_121_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICIEAM.2018.8728806"},{"key":"e_1_3_1_122_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICPR.2018.8545845"},{"key":"e_1_3_1_123_2","doi-asserted-by":"crossref","unstructured":"Lara Varpio Elise Paradis Sebastian Uijtdehaage and Meredith Young. 2020. The distinctions between theory theoretical framework and conceptual framework. Academic Medicine 95 7 (2020) 989\u2013994.","DOI":"10.1097\/ACM.0000000000003075"},{"key":"e_1_3_1_124_2","doi-asserted-by":"crossref","unstructured":"Petr V\u00e1vra Jan Roman Pavel Zon\u010da Peter Ihn\u00e1t Martin N\u011bmec Jayant Kumar Nagy Habib and Ahmed El-Gendi. 2017. Recent development of augmented reality in surgery: A review. Journal of Healthcare Engineering 2017 1 (2017) 4574172.","DOI":"10.1155\/2017\/4574172"},{"key":"e_1_3_1_125_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-20712-3"},{"key":"e_1_3_1_126_2","volume-title":"Computer Vision Winter Workshop","author":"Wagner Daniel","year":"2007","unstructured":"Daniel Wagner and Dieter Schmalstieg. 2007. Artoolkitplus for pose tracking on mobile devices. In Computer Vision Winter Workshop. Graz Technical University."},{"key":"e_1_3_1_127_2","doi-asserted-by":"publisher","DOI":"10.1109\/CTISC49998.2020.00030"},{"key":"e_1_3_1_128_2","doi-asserted-by":"crossref","unstructured":"Hao Wang Zongying Shi Geng Lu and Yisheng Zhong. 2018. Hierarchical fiducial marker design for pose estimation in large-scale scenarios. Journal of Field Robotics 35 6 (2018) 835\u2013849.","DOI":"10.1002\/rob.21780"},{"key":"e_1_3_1_129_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759617"},{"key":"e_1_3_1_130_2","doi-asserted-by":"publisher","unstructured":"Shaoan Wang Mingzhu Zhu Yaoqing Hu Dongyue Li Fusong Yuan and Junzhi Yu. 2024. CylinderTag: An accurate and flexible marker for cylinder-shape objects pose estimation based on projective invariants. IEEE Transactions on Visualization and Computer Graphics (2024) 1\u201315. DOI:10.1109\/TVCG.2024.3350901","DOI":"10.1109\/TVCG.2024.3350901"},{"key":"e_1_3_1_131_2","doi-asserted-by":"crossref","unstructured":"Yusheng Wang Yonghoon Ji Dingyu Liu Yusuke Tamura Hiroshi Tsuchiya Atsushi Yamashita and Hajime Asama. 2020. Acmarker: Acoustic camera-based fiducial marker system in underwater environment. IEEE Robotics and Automation Letters 5 4 (2020) 5018\u20135025.","DOI":"10.1109\/LRA.2020.3005375"},{"key":"e_1_3_1_132_2","doi-asserted-by":"crossref","unstructured":"Karl D. D. Willis and Andrew D. Wilson. 2013. InfraStructs: Fabricating information inside physical objects for imaging in the terahertz region. ACM Transactions on Graphics (TOG) 32 4 (2013) 1\u201310.","DOI":"10.1145\/2461912.2461936"},{"key":"e_1_3_1_133_2","doi-asserted-by":"publisher","DOI":"10.1145\/2601248.2601268"},{"key":"e_1_3_1_134_2","doi-asserted-by":"crossref","unstructured":"Baibo Wu Longfei Wang Xu Liu Linhui Wang and Kai Xu. 2021. Closed-loop pose control and automated suturing of continuum surgical manipulators with customized wrist markers under stereo vision. IEEE Robotics and Automation Letters 6 4 (2021) 7137\u20137144.","DOI":"10.1109\/LRA.2021.3097260"},{"key":"e_1_3_1_135_2","doi-asserted-by":"crossref","unstructured":"Wenxin Wu Liang Guo Hongli Gao Zhichao You Yuekai Liu and Zhiqiang Chen. 2022. YOLO-SLAM: A semantic SLAM system towards dynamic environment with geometric constraint. Neural Computing and Applications 34 8 (2022) 6011\u20136026.","DOI":"10.1007\/s00521-021-06764-3"},{"key":"e_1_3_1_136_2","doi-asserted-by":"crossref","unstructured":"Yihong Wu Fulin Tang and Heping Li. 2018. Image-based camera localization: An overview. Visual Computing for Industry Biomedicine and Art 1 1 (2018) 1\u201313.","DOI":"10.1186\/s42492-018-0008-z"},{"key":"e_1_3_1_137_2","doi-asserted-by":"crossref","unstructured":"Renbo Xia Maobang Hu Jibin Zhao Songlin Chen Yueling Chen and ShengPeng Fu. 2018. Global calibration of non-overlapping cameras: State of the art. Optik 158 (2018) 951\u2013961.","DOI":"10.1016\/j.ijleo.2017.12.159"},{"key":"e_1_3_1_138_2","doi-asserted-by":"publisher","DOI":"10.1109\/CRV.2011.13"},{"key":"e_1_3_1_139_2","doi-asserted-by":"publisher","unstructured":"Mustafa B. Yaldiz Andreas Meuleman Hyeonjoong Jang Hyunho Ha and Min H. Kim. 2021. DeepFormableTag: End-to-end generation and recognition of deformable fiducial markers. ACM Trans. Graph. 40 4 (2021) 14 pages. DOI:10.1145\/3450626.3459762","DOI":"10.1145\/3450626.3459762"},{"key":"e_1_3_1_140_2","doi-asserted-by":"publisher","DOI":"10.1145\/2671015.2671022"},{"key":"e_1_3_1_141_2","doi-asserted-by":"crossref","unstructured":"Mengshen Yang Xu Sun Fuhua Jia Adam Rushworth Xin Dong Sheng Zhang Zaojun Fang Guilin Yang and Bingjian Liu. 2022. Sensors and sensor fusion methodologies for indoor odometry: A review. Polymers 14 10 (2022) 2019.","DOI":"10.3390\/polym14102019"},{"key":"e_1_3_1_142_2","doi-asserted-by":"crossref","unstructured":"Guoxing Yu Yongtao Hu and Jingwen Dai. 2020. Topotag: A robust and scalable topological fiducial marker system. IEEE Transactions on Visualization and Computer Graphics 27 9 (2020) 3769\u20133780.","DOI":"10.1109\/TVCG.2020.2988466"},{"key":"e_1_3_1_143_2","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00384"},{"key":"e_1_3_1_144_2","doi-asserted-by":"crossref","unstructured":"Lin Zhang Menglong Ye Po-Ling Chan and Guang-Zhong Yang. 2017. Real-time surgical tool tracking and pose estimation using a hybrid cylindrical marker. International Journal of Computer Assisted Radiology and Surgery 12 6 (2017) 921\u2013930.","DOI":"10.1007\/s11548-017-1558-9"},{"key":"e_1_3_1_145_2","doi-asserted-by":"publisher","DOI":"10.5555\/850976.854955"},{"key":"e_1_3_1_146_2","doi-asserted-by":"publisher","DOI":"10.1109\/WACV.2000.895425"},{"key":"e_1_3_1_147_2","unstructured":"Zhuming Zhang Yongtao Hu Guoxing Yu and Jingwen Dai. 2022. DeepTag: A general framework for fiducial marker design and detection. IEEE Transactions on Pattern Analysis and Machine Intelligence 45 3 (2022) 2931\u20132944."}],"container-title":["ACM Computing Surveys"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3793661","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,13]],"date-time":"2026-03-13T15:02:24Z","timestamp":1773414144000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3793661"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,2,25]]},"references-count":146,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2026,7,31]]}},"alternative-id":["10.1145\/3793661"],"URL":"https:\/\/doi.org\/10.1145\/3793661","relation":{},"ISSN":["0360-0300","1557-7341"],"issn-type":[{"value":"0360-0300","type":"print"},{"value":"1557-7341","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,2,25]]},"assertion":[{"value":"2025-02-07","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-01-19","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-02-25","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}