ArUco markers are binary square fiducial markers that can be used for camera pose estimation. Their main benefit is that their detection is robust, fast and simple.

The aruco module includes the detection of these types of markers and the tools to employ them for pose estimation and camera calibration.

Also, the ChArUco functionalities combine ArUco markers with traditional chessboards to allow an easy and versatile corner detection. The module also includes the functions to detect ChArUco corners and use them for pose estimation and camera calibration.

Detection of ArUco Markers

Compatibility: > OpenCV 3.0

Author: Sergio Garrido, Steve Nicholson

Basic detection and pose estimation from single ArUco markers.
Detection of ArUco Boards

Compatibility: > OpenCV 3.0

Author: Sergio Garrido

Detection and pose estimation using a Board of markers
Detection of ChArUco Boards

Compatibility: > OpenCV 3.0

Author: Sergio Garrido

Basic detection using ChArUco corners
Detection of Diamond Markers

Compatibility: > OpenCV 3.0

Author: Sergio Garrido

Detection and pose estimation using ChArUco markers
Calibration with ArUco and ChArUco

Compatibility: > OpenCV 3.0

Author: Sergio Garrido

Camera Calibration using ArUco and ChArUco boards
Aruco module FAQ

Compatibility: > OpenCV 3.0

Author: Sergio Garrido

General and useful questions about the aruco module