Computer Vision
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OpenCV
1.1. Install with Visual Studio
1.2. Install Extra Modules - Hardware
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Aruco Markers
3.1. General info
3.2. CIRC info
ArUco markers (which stands for "Augmented Reality University of Cordoba") are binary square fiducial markers that are used for augmented reality applications. For example, if you print off one of these markers on paper then you can use a camera detect their position and identify the which marker it is.
Each ArUco marker has either a black or white border surrounding the marker and the rest of the marker is divided into a grid. The markers can vary in size from a 4x4 bit marker to a 7x7 bit marker. Each block in the marker is black (0) or white (1) and is used to determine the id of the marker. The predefined dictionaries in the opencv ArUco module contain a varied amount of markers (50/100/250/1000) and can only detect and id markers of a certain size. For example, the predefined dictionary "DICT_6X6_50" only reads 6x6 bit markers with marker ids from 0-49. Lower dictionary sizes and higher marker sizes increase the inter-marker distance which determines the error detection and correction capabilities of the dictionary. (So keep that in mind when choosing the dictionary). More info on ArUco markers and the basic code for marker detection and identification can be found:
From the pictures and the videos it looks like the ArUco markers are 6x6 bit markers. However, according to the autonomous guidelines on the CIRC website it has stated "For tasks requiring fine waypoint accuracy, identification of objects, or interaction with objects, the waypoint or object will be designated using an ArUco machine vision marker. The size, location, dictionary, and identification number of these markers will be posted along with the detailed task drawings." So choose the dictionary needed accordingly.
