Detect ArUco Markers in an Image

Hello People,

I have to write a Code to detect ArUco Markers in an Image.

I already converted my Image into a binary image.

But now i dont know how to detect the markers on my Image.

Could need some quick ideas on that! thanks to all of u :)

Answer 1

[Benjamin Thompson]

Convert to grayscale using rgb2gray, threshold to binary black/white using imbinarize, label the connected components using bwlabel, then process the results. Maybe using imfill to help set all the pixels for each marker to white so that you can ignore their internal differences first.

[Lars Bußkamp]

Thanks for your reply.

I need to implement it like in this publication (4. Page 5-7)

https://www.researchgate.net/publication/260251570_Automatic_generation_and_detection_of_highly_reliable_fiducial_markers_under_occlusion?enrichId=rgreq-153b37186ec168bc3e57da83b9d57728-XXX&enrichSource=Y292ZXJQYWdlOzI2MDI1MTU3MDtBUzo1NDgxNDA5NTAzMTkxMDRAMTUwNzY5ODM5NDA0MA%3D%3D&el=1_x_2&_esc=publicationCoverPdf

So i know how to how to binarize my Image. So if i use bwlabel i get many labels i dont need. Dont know how to extract only my 6 Markers