Dynamic visual fiducial markers

This paper introduces a visual fiducial marker design, the dynamic fiducial marker for machine vision applications. With this new fiducial, the estimation of the pose of a calibrated camera can be improved via the dynamic adjustment of the fiducial displayed on a display device. The dynamic fiducial marker can change its appearance according to the spatiotemporal requirements of the visual perception task, especially in the case of a mobile robot using a camera as a sensor. We present a feedback control scheme that changes the appearance of the marker depending on the current pose of the camera, in order to increase the range of detection for pose estimation and to to achieve higher accuracy of pose estimation compared to common passive fiducial markers.