Evaluation of Orientation Ambiguity and Detection Rate in April Tag and WhyCode

Fiducial systems provide a computationally cheap way for mobile robots to estimate the pose of objects, or their own pose, using just a monocular camera. However, the orientation component of the pose of fiducial markers is unreliable, which can have destructive effects in autonomous drone landing on landing pads marked with fiducial markers. This paper evaluates the April Tag and WhyCode fiducial systems in terms of orientation ambiguity and detection rate on embedded hardware. We test 2 April Tag variants - 1 default and 1 custom - and 3 Whycode variants - 1 default and 2 custom. We determine that they are suitable for autonomous drone landing applications in terms of detection rate, but may generate erroneous control signals as a result of orientation ambiguity in the pose estimates.