Modeling ArUco Markers Images for Accuracy Analysis of Their 3D Pose Estimation

Fiducial markers are used in vision systems to determine the position of objects in space, reconstruct movement and create augmented reality. Despite the abundance of work on analysis of the accuracy of the estimation of the fiducial markers spatial position, this question remains open. In this paper, we propose the computer modeling of images with ArUco markers for this purpose. The paper presents a modeling algorithm, which was implemented in the form of software based on the OpenCV library. Algorithm is based on projection of three-dimensional points of the marker corners into two-dimensional points using the camera parameters and rendering the marker image in the new two-dimensional coordinates on the modeled image with the use of the perspective transformation obtained from these points. A number of dependencies were obtained by which it is possible to evaluate the error in determining the position depending on markers size. Including the probability of detecting a marker depending on its area on an image.