ArUco: a minimal library for Augmented Reality applications based on OpenCV

News:  Aruco Nano version 5 released (1/08/2023).  Download here!

ArUco Nano 5 Release

News: New Aruco Version of the library available. Tracking with Correlation Filters!

ArUco is an OpenSource library for camera pose estimation using squared markers. ArUco is written in C++ and is extremely fast.

Main Features

• Detect markers with a single line of C++ code.
• Detect varios dictionaries: ARUCO, AprilTag,ArToolKit+,ARTAG,CHILITAGS.
• Faster than any other library for detection of markers
• Few dependencies  OpenCV (>=2.4.9) and eigen3 (included in the library).
• Trivial integration with OpenGL and OGRE.
• Fast, reliable and cross-platform   (Windows, Linux, Mac OS, Android).

Download

The library can be downloaded at SourceForge

Documentation

There is a list of video tutorials on youtube and a manual.

Citing

If you use this library in your research, you must cite:

1. «Speeded up detection of squared fiducial markers», Francisco J.Romero-Ramirez, Rafael Muñoz-Salinas, Rafael Medina-Carnicer, Image and Vision Computing, vol 76, pages 38-47, year 2018
2. «Generation of fiducial marker dictionaries using mixed integer linear programming»,S. Garrido-Jurado, R. Muñoz Salinas, F.J. Madrid-Cuevas, R. Medina-Carnicer, Pattern Recognition:51, 481-491,2016

License

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