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Precise pose estimation is crucial for unmanned aerial vehicles (UAVs). Fiducial markers provide a straightforward solution without relying on external systems. However, the detection of these markers is limited to specific rotation angles, and their localization accuracy requires enhancement. To overcome these limitations, we propose the square cupola AprilTag, which enables detection over a broader range of angles due to its three-dimensional structure. The pose estimation results of various markers are optimally fused based on accuracy experiments of the standard AprilTag. The experimental results demonstrate a significant reduction in pose errors and robustness in reflective environments. The effectiveness of our method is further validated in UAV tracking scenarios.

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Square Cupola AprilTag: A High-Precision Fiducial Marker for Pose Estimation Based on Accuracy Experiments of AprilTag

  • 会议论文

  • 发表日期：

    2026年

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  • Haoran Yang,
  • Yinshuai Sun,
  • Jianzhe Huang,
  • Zhongliang Jing

摘要

Precise pose estimation is crucial for unmanned aerial vehicles (UAVs). Fiducial markers provide a straightforward solution without relying on external systems. However, the detection of these markers is limited to specific rotation angles, and their localization accuracy requires enhancement. To overcome these limitations, we propose the square cupola AprilTag, which enables detection over a broader range of angles due to its three-dimensional structure. The pose estimation results of various markers are optimally fused based on accuracy experiments of the standard AprilTag. The experimental results demonstrate a significant reduction in pose errors and robustness in reflective environments. The effectiveness of our method is further validated in UAV tracking scenarios.