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Introduction to Global Positioning System01:30

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The Global Positioning System (GPS) revolutionized positioning on Earth, providing precise location data through satellite ranging. The GPS system was developed in 1978 by the U.S. Department of Defense  for military use, and it became available for civilian applications in 1983, transforming fields including navigation, fleet management, and time synchronization for telecommunications systems.GPS consists of satellites in medium Earth orbit, about 20,200 kilometers above the surface,...
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Related Experiment Video

Updated: Jun 18, 2025

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Tape-Shaped, Multiscale, and Continuous-Readable Fiducial Marker for Indoor Navigation and Localization Systems.

Benedito S R Neto1, Tiago D O Araújo2, Bianchi S Meiguins3

  • 1Departamento de Ensino, Pesquisa, Pos-Graduação, Inovação e Extensão, Campus Cametá, Instituto Federal do Pará (IFPA), Cametá 68400-000, Pará, Brazil.

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Summary

This study introduces a novel tape-shaped fiducial marker for computer vision-based location systems. The marker ensures continuous environmental coverage, minimizing location service interruptions and offering robust multi-scale detection.

Keywords:
fiducial markerindoor localizationsmartphonetape-shaped marker

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Area of Science:

  • Computer Vision
  • Robotics
  • Indoor Localization

Background:

  • Location systems often face challenges with continuous tracking and marker robustness.
  • Existing fiducial markers like ArUco, QRCode, and STag have limitations in scale invariance and environmental coverage.

Purpose of the Study:

  • To propose and evaluate a novel tape-shaped fiducial marker for computer vision-based location systems.
  • To assess the marker's performance in terms of continuous reading, multi-scale detection, and robustness in diverse conditions.

Main Methods:

  • Development of a tape-shaped fiducial marker with hierarchical coding for scale robustness.
  • Implementation of a marker generation application using floor plan images.
  • Performance evaluation through 3D simulations and real-world smartphone tests, comparing with ArUco, QRCode, and STag markers.

Main Results:

  • The tape-shaped marker demonstrated detection capabilities across multiple scales (0.5m to 10m).
  • Tests showed robustness against lighting variations, challenging angles, and partial occlusions, though not yet against motion blur.
  • Continuous reading was achieved by covering the environment's perimeter, minimizing location service interruptions.

Conclusions:

  • The proposed tape-shaped fiducial marker offers a viable solution for continuous and robust indoor localization.
  • The marker's design facilitates multi-scale detection and environmental coverage, outperforming existing markers in specific scenarios.