A Reliable and Easily Identifiable Long-Range Fiducial Marker

Fiducial markers play a common role in robotics, but their usability is constrained by the distance they can operate in. This limitation arises from the pixel count necessary for accurate detection. This paper presents a fiducial marker designed to be identifiable from just a few pixels. The proposed marker utilizes colors to improve the certainty of the detection while keeping the features of the marker as simple as possible. Experiments have been conducted to show the range in which the proposed marker can be used compared to the popular ArUco marker.