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An Approach to Marker Detection in IR- and RGB-images for an Augmented Reality Marker

We introduce an augmented reality marker based on ArUco markers (Garrido-Jurado et al., 2014) that can be detected in RGBand IR-images by using retroreflective material. Due to active perception by IR-capable camera systems the negative impact of external disturbances like change of light conditions on the marker detection is minimized. By the parallel processing architecture of RGBand IR-images redundancy stabilizes the detection. As different retroreflective materials influence the image quality depending on the camera system, we also examined different retroreflective materials and compared the performance of the Kinect V2 and the Intel RealSense D435 regarding the detection probability depending on the geometrical distance of the augmented reality marker to the camera.