PuzzlePoles: Cylindrical Fiducial Markers Based on the PuzzleBoard Pattern

TL;DR

PuzzlePoles are cylindrical fiducial markers based on PuzzleBoard patterns, enabling robust 360-degree recognition and precise pose estimation for autonomous system applications.

Contribution

This paper introduces PuzzlePoles, a novel cylindrical fiducial marker design that improves recognition robustness and pose accuracy using PuzzleBoard's combinatorial structure.

Findings

High accuracy in localization and orientation

Robustness to occlusions

Effective from all viewing angles

Abstract

Reliable perception of the environment is a key enabler for autonomous systems, where calibration and localization tasks often rely on robust visual markers. We introduce the PuzzlePole, a new type of fiducial markers derived from the recently proposed PuzzleBoard calibration pattern. The PuzzlePole is a cylindrical marker, enabling reliable recognition and pose estimation from 360{\deg} viewing direction. By leveraging the unique combinatorial structure of the PuzzleBoard pattern, PuzzlePoles provide a high accuracy in localization and orientation while being robust to occlusions. The design offers flexibility for deployment in diverse autonomous systems scenarios, ranging from robot navigation and SLAM to tangible interfaces.