Tiny Introduction to Fiducial Markers

A self-contained workshop that introduces fiducial markers from scratch, for anyone starting out in computer vision or augmented reality. It walks through Aruco marker detection, homography computation, pose estimation, and rendering a live 3D object that tracks a marker in real time.

It's built as hands-on C++ exercises rather than slides alone: two progressively more complete applications, a printable marker set, and a full written report and slide deck to follow along with.

Alongside the two C++ applications, the workshop includes a full written report that walks through the theory behind each exercise in the same order the code is built: how Aruco markers are detected and decoded, how a homography is computed from marker corners, how that homography leads to a full 6DoF pose estimate, and how the resulting pose drives a live 3D render.

It's written to be read alongside mainApp and mainAppOvis rather than as a stand-alone document, every section maps to a concrete step in the code, and is paired with a slide deck covering the same material for anyone presenting or teaching from the workshop. The pages themselves are shown up top.