Flat marker: Reducing the weight of motion capture markers for micro flying robots

The paper presents and discusses the usability of a lightweight alternative to the spherical markers used in the motion capture systems. The flat marker is an approach that can allow a significant reduction in weight with only a minor negative impact on the tracking capabilities. The low weight of the markers is particularly desirable in the case of micro flying robots with payload capacity limited to a few grams. The document takes a look at the retro reflective material advantages in the case of micro flying robots. For testing purposes, over 30 different widely available products were selected and compared. The experiments were performed on both 2D and 3D surfaces, including static and dynamic objects and different scenarios. The paper includes a comparison of the materials tested and their usability as flat markers. The results showed that in the case of the best material found, the total weight of the markers can be reduced to less than one gram while ensuring continuous tracking for up to 99.7% of the test time. The research is valuable not only to people working with micro flying robots, but also to those looking for customisable and lighter replacement marker materials for the constructing of 2D or 3D markers.