Recursive ArUco Markers: A Scalable Fiducial Marker Design for Unmanned Aerial Vehicle Landing Pads
Unmanned Aerial Vehicles (UAVs) increasingly rely on visual fiducial markers for autonomous navigation and precision landing. However, standard markers suffer from limited operational ranges, becoming undetectable when the camera is either too far or too close. While recursive and fractal markers have been proposed to address this issue, existing approaches either require the marker's center to remain visible, making them vulnerable to occlusion, or are limited in their recursion depth and placement. We propose a novel Recursive ArUco marker design. Our method allows any standard fiducial marker to be transformed into a recursive marker with an arbitrary depth. By employing a modified bit...
| Authors | Rafael Munoz-Salinas, Francisco Jose Romero-Ramirez, Sergio Garrido-Jurado |
|---|---|
| Primary category | cs.RO |
| Published | 15 July 2026 |
| Last updated at source | 21 July 2026 |
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