Circular data matrix fiducial system and robust image processing for a wearable vision-inertial self-tracker

By L. Naimark, E. Foxlin. Proceedings. International Symposium on Mixed and Augmented Reality, 2002

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ARTag, a fiducial marker system using digital techniques (2005, methodology): “A comparison experiment was performed with several image sequences which do not contain any ARToolkit or ARTag markers to collect statistics on false positives (AR-Toolkit was the only modern marker system made available to the author, an ideal study would also test the Intersense circular fiducials”
Automatic generation and detection of highly reliable fiducial markers under occlusion (2014, methodology): “Other approaches use planar circular markers where the identification is encoded in circular sectors or concentric rings [16][17].”
Speeded up detection of squared fiducial markers (2018, background): “Examples of this are planar circular markers [24, 25], 2D72”
Trends in augmented reality tracking, interaction and display: A review of ten years of ISMAR (2008, background): “Naimark and Foxlin [54] proposed a circular 2D bar-coded fiducial system for vision-inertial tracking.”
An Introduction to Inertial and Visual Sensing (2007, background): “Many other hybrid self-trackers based on inertial and vision sensors have been proposed (Hoff et al. 1996 Azuma et al. 1999 Chai et al. 2002 Naimark and Foxlin 2002 Foxlin and Naimark 2003b Ribo et al. 2004 Hogue et al. 2004 Alenya et al. 2004 Klein and Drummond 2004).”
Pose Estimation for Augmented Reality: A Hands-On Survey (2016, background): “Finally, these descriptors extracted in two images are matched to ﬁnd correspondences.”