Factors affecting the design and tracking of ARToolKit markers

The quality of ARToolKit markers plays a vital role in the performance of Augmented Reality applications, but currently there is no algorithm or quantitative measure to guide users for designing high quality markers and their reliable tracking. This paper presents eleven factors that are important for designing and tracking ARToolKit markers. The effect of each factor on the quality (accuracy, detection speed, and inter-marker confusion) of marker tracking system is investigated and the optimal value(s) of these factors are found. Using the optimal values of these factors one can achieve the goal of reliable and robust tracking of fiducial markers.