Analysis of ARToolKit Fiducial Markers Attributes for Robust Tracking

The critical challenge in developing augmented reality applications is registration between virtual and real-world objects. This registration needs tracking of video camera position and orientation with respect to the real-world environment. Currently, marker-based tracking technique is the most utilized approach for tracking the camera position and orientation (pose). For the development of augmented reality applications different marker-based tracking toolkits are available. Among these toolkits ARToolKit is most widely used library. This paper analyzes various attributes of ARToolKit markers for more robust tracking. The attributes consist of marker sizes, marker distance from camera, the marker speed, the brightness in environment, the contrast level of lighting, and correlation between marker size and distance. Various experiments were conducted in order to analyze these factors. One can use these findings to design a robust marker-based augmented reality application