{"id":"https://openalex.org/W7155072174","doi":"https://doi.org/10.1109/icara69401.2026.11480363","title":"Hierarchical Embedded ArUco Markers for Precise Positioning","display_name":"Hierarchical Embedded ArUco Markers for Precise Positioning","publication_year":2026,"publication_date":"2026-02-05","ids":{"openalex":"https://openalex.org/W7155072174","doi":"https://doi.org/10.1109/icara69401.2026.11480363"},"language":null,"primary_location":{"id":"doi:10.1109/icara69401.2026.11480363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara69401.2026.11480363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 12th International Conference on Automation, Robotics and Applications (ICARA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5134171963","display_name":"Aleksei Kislovskii","orcid":null},"institutions":[{"id":"https://openalex.org/I21203515","display_name":"Kazan Federal University","ror":"https://ror.org/05256ym39","country_code":"RU","type":"education","lineage":["https://openalex.org/I21203515"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Aleksei Kislovskii","raw_affiliation_strings":["Kazan Federal University,Intelligent Robotics Department,Kazan,Russian Federation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kazan Federal University,Intelligent Robotics Department,Kazan,Russian Federation","institution_ids":["https://openalex.org/I21203515"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071562759","display_name":"Tatyana Tsoy","orcid":"https://orcid.org/0000-0002-5715-7768"},"institutions":[{"id":"https://openalex.org/I21203515","display_name":"Kazan Federal University","ror":"https://ror.org/05256ym39","country_code":"RU","type":"education","lineage":["https://openalex.org/I21203515"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Tatyana Tsoy","raw_affiliation_strings":["Kazan Federal University,Intelligent Robotics Department,Kazan,Russian Federation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kazan Federal University,Intelligent Robotics Department,Kazan,Russian Federation","institution_ids":["https://openalex.org/I21203515"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134184741","display_name":"Yang Bai","orcid":null},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yang Bai","raw_affiliation_strings":["Graduate School of Advanced Science and Engineering, Hiroshima University,Hiroshima,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Advanced Science and Engineering, Hiroshima University,Hiroshima,Japan","institution_ids":["https://openalex.org/I113306721"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008221002","display_name":"Edgar A. Mart\u00ednez\u2010Garc\u00eda","orcid":"https://orcid.org/0000-0001-9163-8285"},"institutions":[{"id":"https://openalex.org/I114756412","display_name":"Universidad Aut\u00f3noma de Ciudad Ju\u00e1rez","ror":"https://ror.org/05fj8cf83","country_code":"MX","type":"education","lineage":["https://openalex.org/I114756412"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Edgar A. Mart\u00ednez-Garc\u00eda","raw_affiliation_strings":["The Autonomous University of Ciudad Juarez,Department of Industrial Engineering and Manufacturing,Chihuahua,Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Autonomous University of Ciudad Juarez,Department of Industrial Engineering and Manufacturing,Chihuahua,Mexico","institution_ids":["https://openalex.org/I114756412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073469455","display_name":"Mikhail Svinin","orcid":"https://orcid.org/0000-0003-2459-2250"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mikhail Svinin","raw_affiliation_strings":["Graduate School of Information Science and Engineering, Ritsumeikan University,Osaka,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Engineering, Ritsumeikan University,Osaka,Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046438244","display_name":"Evgeni Magid","orcid":"https://orcid.org/0000-0001-7316-5664"},"institutions":[{"id":"https://openalex.org/I21203515","display_name":"Kazan Federal University","ror":"https://ror.org/05256ym39","country_code":"RU","type":"education","lineage":["https://openalex.org/I21203515"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Evgeni Magid","raw_affiliation_strings":["Kazan Federal University,Intelligent Robotics Department,Kazan,Russian Federation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kazan Federal University,Intelligent Robotics Department,Kazan,Russian Federation","institution_ids":["https://openalex.org/I21203515"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"99","last_page":"104"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.6141999959945679,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.6141999959945679,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.09229999780654907,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.03929999843239784,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.29490000009536743},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.2583000063896179},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.2540000081062317},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.23759999871253967},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.23319999873638153}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5681999921798706},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42170000076293945},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3723999857902527},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.29490000009536743},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.2583000063896179},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2540000081062317},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.23759999871253967},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.23319999873638153},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.23270000517368317},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2321999967098236}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icara69401.2026.11480363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara69401.2026.11480363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 12th International Conference on Automation, Robotics and Applications (ICARA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1994349244","https://openalex.org/W2125188427","https://openalex.org/W2133674264","https://openalex.org/W2523395177","https://openalex.org/W2940265767","https://openalex.org/W2963507568","https://openalex.org/W3025639385","https://openalex.org/W3049188176","https://openalex.org/W3080108578","https://openalex.org/W3089437958","https://openalex.org/W3136363056","https://openalex.org/W3145270441","https://openalex.org/W3165885682","https://openalex.org/W3171549099","https://openalex.org/W4200228796","https://openalex.org/W4285613279","https://openalex.org/W4317435189","https://openalex.org/W4320493621","https://openalex.org/W4321438033","https://openalex.org/W4382702622","https://openalex.org/W4391896557","https://openalex.org/W4404144822"],"related_works":[],"abstract_inverted_index":{"Visual":[0],"fiducial":[1],"markers,":[2,136,183],"such":[3],"as":[4,34],"ArUco,":[5],"are":[6],"widely":[7],"used":[8],"in":[9],"robotics":[10],"for":[11,40,119,128],"camera":[12],"calibration,":[13],"pose":[14,196],"estimation,":[15],"and":[16,31,67,85,111,141,152,166,193],"autonomous":[17],"navigation.":[18],"However,":[19],"conventional":[20],"single-scale":[21,201],"markers":[22,53,92],"inherently":[23],"suffer":[24],"from":[25],"a":[26,65,83,125,188],"trade-off":[27],"between":[28],"long-range":[29],"detectability":[30],"close-range":[32],"accuracy,":[33],"marker":[35,150],"size":[36],"cannot":[37],"be":[38],"optimized":[39],"both":[41,138,164],"simultaneously.":[42],"To":[43],"address":[44],"this":[45,74,79],"challenge,":[46],"recent":[47],"works":[48],"have":[49],"explored":[50],"multi-scale":[51],"hierarchical":[52,103,133],"that":[54],"embed":[55],"smaller":[56],"tags":[57],"within":[58],"larger":[59],"ones,":[60],"enabling":[61],"coarse":[62],"detection":[63,186],"at":[64,70],"distance":[66],"precise":[68],"localization":[69,191],"close":[71],"range.":[72],"In":[73],"work,":[75],"we":[76],"further":[77],"advance":[78],"concept":[80],"by":[81],"presenting":[82],"scalable":[84],"fully":[86],"configurable":[87],"implementation":[88],"of":[89,107,114,132,173],"embedded":[90],"ArUco":[91],"(eArUco).":[93],"The":[94,146],"original":[95],"two-level":[96],"eArUco":[97,134],"approach":[98],"is":[99],"enhanced":[100],"through":[101],"multi-level":[102],"nesting,":[104],"major-color-based":[105],"selection":[106],"an":[108,115],"inner":[109,120],"marker,":[110],"the":[112,129,157,174],"introduction":[113],"additional":[116],"white":[117],"boundary":[118],"markers.":[121,202],"We":[122],"present":[123],"HeArUcoInterface,":[124],"software":[126],"suite":[127],"automatic":[130],"generation":[131],"(HeArUco)":[135],"supporting":[137],"command-line":[139],"interface":[140,144],"graphical":[142],"user":[143],"modes.":[145],"tool":[147],"outputs":[148],"printable":[149],"textures":[151],"SDF":[153],"models":[154],"compatible":[155],"with":[156],"Gazebo":[158],"simulator,":[159],"facilitating":[160],"straightforward":[161],"integration":[162],"into":[163],"simulated":[165],"real":[167],"robotic":[168],"systems":[169],"applications.":[170],"Virtual":[171],"experiments":[172],"Servosila":[175],"Engineer":[176],"tracked":[177],"mobile":[178],"robot":[179],"positioning,":[180],"using":[181],"HeArUco":[182],"demonstrated":[184],"improved":[185],"stability,":[187],"wider":[189],"operational":[190],"range,":[192],"more":[194],"accurate":[195],"estimation":[197],"compared":[198],"to":[199],"traditional":[200]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-04-22T00:00:00"}