Overview

A professional, robust toolkit for ArUco marker detection, pose estimation, and custom 3D model tracking in Python. Supports real-time 6DOF tracking with advanced features like Kalman filtering and optical flow.

Core Features

• Universal ArUco Detection – Seamless support for OpenCV 4.x and 3.x
• Camera Calibration – Single and dual-camera calibration workflows
• Pose Estimation – Real-time 6DOF pose tracking from markers
• Custom 3D Models – Dodecahedron and custom geometry tracking
• Multi-Marker Fusion – Improved accuracy from marker groups
• Performance Monitoring – Built-in FPS and error tracking
• Data Recording – Export pose data in JSON/CSV formats

Advanced Features

• Pose Refinement – Scipy-based optimization for sub-pixel accuracy
• Optical Flow Tracking – Maintain tracking between detections
• Kalman Filtering – Smooth pose trajectories
• CLI Interface – Professional command-line tools

Performance

• Detection: 50-100 FPS (single marker)
• Pose Estimation: 40-80 FPS
• Reprojection Error: < 1 pixel (calibrated camera)
• Tracking Latency: < 20ms

Links

GitHub Repository