Planar fiducial markers: a comparative study

Fiducial markers are a cost-effective solution for solving labeling and monocular localization problems, making them valuable tools for augmented reality (AR), robot navigation, and 3D modeling applications. However, with the development of many marker detection systems in the last decade, it has become challenging for new users to determine which is best suited for their needs. This paper presents a qualitative and quantitative evaluation of the most relevant marker systems. We analyze the available alternatives in the literature, describe their differences and limitations, and conduct detailed experiments to compare them in terms of sensitivity, specificity, accuracy, computational cost, and performance under occlusion. To our knowledge, this study provides the most comprehensive and updated comparison of fiducial markers. In the Conclusion section, we offer recommendations on which method to use based on the application requirements.