{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T12:30:49Z","timestamp":1780317049733,"version":"3.54.1"},"reference-count":72,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2021,1,18]],"date-time":"2021-01-18T00:00:00Z","timestamp":1610928000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"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\/501100003593","name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","doi-asserted-by":"publisher","award":["Grants for Elizabeth V. Cabrera-Avila"],"award-info":[{"award-number":["Grants for Elizabeth V. Cabrera-Avila"]}],"id":[{"id":"10.13039\/501100003593","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Artificial marker mapping is a useful tool for fast camera localization estimation with a certain degree of accuracy in large indoor and outdoor environments. Nonetheless, the level of accuracy can still be enhanced to allow the creation of applications such as the new Visual Odometry and SLAM datasets, low-cost systems for robot detection and tracking, and pose estimation. In this work, we propose to improve the accuracy of map construction using artificial markers (mapping method) and camera localization within this map (localization method) by introducing a new type of artificial marker that we call the smart marker. A smart marker consists of a square fiducial planar marker and a pose measurement system (PMS) unit. With a set of smart markers distributed throughout the environment, the proposed mapping method estimates the markers\u2019 poses from a set of calibrated images and orientation\/distance measurements gathered from the PMS unit. After this, the proposed localization method can localize a monocular camera with the correct scale, directly benefiting from the improved accuracy of the mapping method. We conducted several experiments to evaluate the accuracy of the proposed methods. The results show that our approach decreases the Relative Positioning Error (RPE) by 85% in the mapping stage and Absolute Trajectory Error (ATE) by 50% for the camera localization stage in comparison with the state-of-the-art methods present in the literature.<\/jats:p>","DOI":"10.3390\/s21020625","type":"journal-article","created":{"date-parts":[[2021,1,20]],"date-time":"2021-01-20T03:34:25Z","timestamp":1611113665000},"page":"625","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":24,"title":["Smart Artificial Markers for Accurate Visual Mapping and Localization"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8578-4515","authenticated-orcid":false,"given":"Luis E.","family":"Ortiz-Fernandez","sequence":"first","affiliation":[{"name":"Natalnet Associate Laboratories, Campus Universit\u00e1rio, Federal University of Rio Grande do Norte, Natal RN 59078-970, Brazil"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5550-392X","authenticated-orcid":false,"given":"Elizabeth V.","family":"Cabrera-Avila","sequence":"additional","affiliation":[{"name":"Natalnet Associate Laboratories, Campus Universit\u00e1rio, Federal University of Rio Grande do Norte, Natal RN 59078-970, Brazil"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7780-7254","authenticated-orcid":false,"given":"Bruno M. F. da","family":"Silva","sequence":"additional","affiliation":[{"name":"Natalnet Associate Laboratories, Campus Universit\u00e1rio, Federal University of Rio Grande do Norte, Natal RN 59078-970, Brazil"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7735-5630","authenticated-orcid":false,"given":"Luiz M. G.","family":"Gon\u00e7alves","sequence":"additional","affiliation":[{"name":"Natalnet Associate Laboratories, Campus Universit\u00e1rio, Federal University of Rio Grande do Norte, Natal RN 59078-970, Brazil"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2021,1,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"16","DOI":"10.1186\/s41074-017-0027-2","article-title":"Visual SLAM algorithms: A survey from 2010 to 2016","volume":"9","author":"Taketomi","year":"2017","journal-title":"IPSJ Trans. Comput. Vis. 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