Welcome to Aruco Ros 2’s documentation!¶
The purpose of Aruco Augmented Reality marker detector for ROS2 is to provide the user to have a ROS2 wrappers on Aruco Augmented Reality marker detector library. Inside this ROS2 wrapper will be using Aruco library created by 2011 Rafael Muñoz Salinas and modified from existing ROS wrapper by Bence Magyar (link). It involves application of marker pose estimation and Visual servoing, which tracks multiple markers at the same time.
The Aruco Augmented Reality marker detector’s process is based on finding correspondences between points using of Binary Square fiducial in the real environment and their 2d image projection. The main benefit of these markers is that a single marker provides four corners of fiducial marker to obtain the camera pose. The inner binary codification in an ArUco markers is a synthetic square marker composed by a wide black border and an inner binary matrix which determines ID, which makes them robust, allowing the possibility of applying error detection and correction techniques.