{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/mapping-and-localization-from-planar-markers","title":"Mapping and Localization from Planar Markers","arxiv_id":"1606.00151","date":"2016-06-01","proceeding":null,"authors":["Rafael Muñoz-Salinas","Manuel J. Marín-Jimenez","Enrique Yeguas-Bolivar","Rafael Medina-Carnicer"],"abstract":"Squared planar markers are a popular tool for fast, accurate and robust\ncamera localization, but its use is frequently limited to a single marker, or\nat most, to a small set of them for which their relative pose is known\nbeforehand. Mapping and localization from a large set of planar markers is yet\na scarcely treated problem in favour of keypoint-based approaches. However,\nwhile keypoint detectors are not robust to rapid motion, large changes in\nviewpoint, or significant changes in appearance, fiducial markers can be\nrobustly detected under a wider range of conditions. This paper proposes a\nnovel method to simultaneously solve the problems of mapping and localization\nfrom a set of squared planar markers. First, a quiver of pairwise relative\nmarker poses is created, from which an initial pose graph is obtained. The pose\ngraph may contain small pairwise pose errors, that when propagated, leads to\nlarge errors. Thus, we distribute the rotational and translational error along\nthe basis cycles of the graph so as to obtain a corrected pose graph. Finally,\nwe perform a global pose optimization by minimizing the reprojection errors of\nthe planar markers in all observed frames. The experiments conducted show that\nour method performs better than Structure from Motion and visual SLAM\ntechniques.","url_abs":"http://arxiv.org/abs/1606.00151v2","url_pdf":"http://arxiv.org/pdf/1606.00151v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"mapping-and-localization-from-planar-markers","repo_url":"https://github.com/elliotwoods/ArUco-MarkerMapper","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"camera-localization","task_name":"Camera Localization"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}