# ChromaTag: A Colored Marker and Fast Detection Algorithm

arXiv: https://arxiv.org/abs/1708.02982 · HTML: https://mlsanity.com/paper/1708.02982/

## Key facts

- Cited by 11 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 9 Aug 2017.

## Built on by (most cited first, 11 of 11)

- [Large-Scale Person Detection and Localization using Overhead Fisheye Cameras](https://mlsanity.com/paper/2307.08252/) (2023)
- [DeepTag: A General Framework for Fiducial Marker Design and Detection](https://mlsanity.com/paper/2105.13731/) (2021)
- [E2ETag: An End-to-End Trainable Method for Generating and Detecting Fiducial Markers](https://mlsanity.com/paper/2105.14184/) (2021)
- [NeuralMarker: A Framework for Learning General Marker Correspondence](https://mlsanity.com/paper/2209.08896/) (2022)
- [DeepFormableTag: End-to-end Generation and Recognition of Deformable Fiducial Markers](https://mlsanity.com/paper/2206.08026/) (2022)
- [CylinderTag: An Accurate and Flexible Marker for Cylinder-Shape Objects Pose Estimation Based on Projective Invariants](https://mlsanity.com/paper/2310.13320/) (2023)
- [Optimizing Fiducial Marker Placement for Improved Visual Localization](https://mlsanity.com/paper/2211.01513/) (2022)
- [YoloTag: Vision-based Robust UAV Navigation with Fiducial Markers](https://mlsanity.com/paper/2409.02334/) (2024)
- [Optimal Target Shape for LiDAR Pose Estimation](https://mlsanity.com/paper/2109.01181/) (2021)
- [QR-Tag: Angular Measurement and Tracking with a QR-Design Marker](https://mlsanity.com/paper/2310.06109/) (2023)
- [Ninja Codes: Neurally Generated Fiducial Markers for Stealthy 6-DoF Tracking](https://mlsanity.com/paper/2510.18976/) (2025)

## Abstract (arXiv)

Current fiducial marker detection algorithms rely on marker IDs for false positive rejection. Time is wasted on potential detections that will eventually be rejected as false positives. We introduce ChromaTag, a fiducial marker and detection algorithm designed to use opponent colors to limit and quickly reject initial false detections and grayscale for precise localization. Through experiments, we show that ChromaTag is significantly faster than current fiducial markers while achieving similar or better detection accuracy. We also show how tag size and viewing direction effect detection accuracy. Our contribution is significant because fiducial markers are often used in real-time applications (e.g. marker assisted robot navigation) where heavy computation is required by other parts of the system.