A visual marker for precise pose estimation based on a microlens array

Existing planar visual markers (AR markers) have poor accuracy in pose estimation, especially in frontal direction. We solved the problem by a novel principle using a microlens array. The marker displays a changing two-dimensional moiré pattern according to the visual-line direction. We can extract pose information from the pattern by image processing. The developed marker and the processing algorithm enable high-accuracy pose estimation even by observation from frontal direction. We verified its superiority to the conventional method by some validation tests.