While reading about a nice precise UAV landing approach (https://www.researchgate.net/figure/Example-of-e-ArUco-marker-based-on-a-7x7-sized-ArUco-marker-The-inner-marker-is-located_fig4_351864208) I was wondering, how the inner Aruco code cannot confuse the detection of the outer Aruco code. I was experimenting a bit and covering the inner Aruco code with a black and then a white pad. In both cases the detected ID was 29. I'm now looking for an explanation for this "phenomenon"
CodePudding user response：
That's redundancy for error correction.
The academic discipline is called Coding theory
The same idea is used in QR codes to put pictures in them.
The original ArUco paper talks about the the coding scheme they chose. Their website: https://www.uco.es/investiga/grupos/ava/node/26