# InfraredTags: Embedding Invisible AR Markers and Barcodes Using Low-Cost, Infrared-Based 3D Printing and Imaging Tools

arXiv: https://arxiv.org/abs/2202.06165 · HTML: https://mlsanity.com/paper/2202.06165/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- Builds on 2 of its 44 references that are in the map.
- First posted on arXiv 12 Feb 2022.

## Builds on (most cited first, 2 of 2)

- [HoloLens 2 Research Mode as a Tool for Computer Vision Research](https://mlsanity.com/paper/2008.11239/) (2020)
- [Deep ChArUco: Dark ChArUco Marker Pose Estimation](https://mlsanity.com/paper/1812.03247/) (2018)

## Built on by (most cited first, 8 of 8)

- [Augmented Object Intelligence with XR-Objects](https://mlsanity.com/paper/2404.13274/) (2024)
- [OmniActions: Predicting Digital Actions in Response to Real-World Multimodal Sensory Inputs with LLMs](https://mlsanity.com/paper/2405.03901/) (2024)
- [Teachable Reality: Prototyping Tangible Augmented Reality with Everyday Objects by Leveraging Interactive Machine Teaching](https://mlsanity.com/paper/2302.11046/) (2023)
- [A Precision Drone Landing System using Visual and IR Fiducial Markers and a Multi-Payload Camera](https://mlsanity.com/paper/2403.03806/) (2024)
- [RAMPA: Robotic Augmented Reality for Machine Programming by DemonstrAtion](https://mlsanity.com/paper/2410.13412/) (2024)
- [Unveiling the Potential of iMarkers: Invisible Fiducial Markers for Advanced Robotics](https://mlsanity.com/paper/2501.15505/) (2025)
- [Imprinto: Enhancing Infrared Inkjet Watermarking for Human and Machine Perception](https://mlsanity.com/paper/2502.17089/) (2025)
- [Claycode: Stylable and Deformable 2D Scannable Codes](https://mlsanity.com/paper/2505.08666/) (2025)

## Abstract (arXiv)

Existing approaches for embedding unobtrusive tags inside 3D objects require either complex fabrication or high-cost imaging equipment. We present InfraredTags, which are 2D markers and barcodes imperceptible to the naked eye that can be 3D printed as part of objects, and detected rapidly by low-cost near-infrared cameras. We achieve this by printing objects from an infrared-transmitting filament, which infrared cameras can see through, and by having air gaps inside for the tag's bits, which appear at a different intensity in the infrared image. We built a user interface that facilitates the integration of common tags (QR codes, ArUco markers) with the object geometry to make them 3D printable as InfraredTags. We also developed a low-cost infrared imaging module that augments existing mobile devices and decodes tags using our image processing pipeline. Our evaluation shows that the tags can be detected with little near-infrared illumination (0.2lux) and from distances as far as 250cm. We demonstrate how our method enables various applications, such as object tracking and embedding metadata for augmented reality and tangible interactions.