Fractal marker fields: No more scale limitations for fiduciary markers

Abstract

One limitation of existing fiduciary markers is that the camera motion is tightly limited: the marker (one of the markers) must be visible and it must be observed at a proper scale. This paper introduces a fractal structure of markers similar to matrix codes (such as QR-code or Data Matrix): the Fractal Marker Field. The FMF allows for embedding markers of a virtually unlimited number of scales. At the same time, for each of the scales it guarantees a constant density of markers at that scale over the whole marker field's surface. The Fractal Marker Field can provide unprecedented freedom of motion to camera-based augmented reality applications.