Speeded up detection of squared fiducial markers

Nevertheless, marker detection is a time-consuming process, especially as the image dimensions grows. Modern cameras are able to acquire high resolutions images, but fiducial marker systems are not adapted in terms of computing speed. This paper proposes a multi-scale strategy for speeding up marker detection in video sequences by wisely selecting the most appropriate scale for detection, identification and corner estimation. The experiments conducted show that the proposed approach outperforms the state-of-the-art methods without sacrificing accuracy or robustness. Our method is up to 40 times faster than the state-of-the-art method, achieving over 1000 fps in 4 K images without any parallelization.