Automatic generation and detection of highly reliable fiducial markers under occlusion

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TidyBot: Personalized Robot Assistance with Large Language Models (2023, methodology): “The pose of the robot base is estimated using ArUco fiducial markers (Garrido-Jurado et al., 2014) mounted on its top plate (see Fig.”
Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots (2024, methodology): “To compute absolute actions in the robot base frame, we calibrate both SLAM coordinates and the robot with respect to the same fiducial markers [16] placed on the table.”
R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package (2021, methodology): “In GPS denied environment (Section VI-B and Section VI-C), we use the ArUco marker [25] for calculating the drift of our odometry.”
On Policy Learning Robust to Irreversible Events: An Application to Robotic In-Hand Manipulation (2018, methodology): “To track the object pose, the ROS tool called AR Track Alvar is employed [22].”
Autonomous Landing of a Quadcopter on a High-Speed Ground Vehicle (2017, methodology): “More recently, [6] used the ArUco library from [7] as a visual fiducial and IMU measurements fused in a square-root unscented Kalman filter for relative pose estimation.”