Robust pseudo-random fiducial marker for indoor localization

This paper proposes a reliable fiducial marker system that is based on Pseudo-Random Arrays. The marker system describes a planar surface that specifies multi-bit information, which can be efficiently detected in a color image. It provides excellent robustness to occlusion through the use of two digital encoding techniques, Cyclic Redundancy Check and Reed Solomon Error Correction. In environments where color coding is feasible, an estimate of the camera pose relative to the marker can be obtained in a single image. The System relies on a low resolution camera and thus provides real-time results suitable for indoor localization applications.