# PuzzlePoles: Cylindrical Fiducial Markers Based on the PuzzleBoard Pattern

arXiv: https://arxiv.org/abs/2511.19448 · HTML: https://mlsanity.com/paper/2511.19448/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 2 of its 22 references that are in the map.
- First posted on arXiv 18 Nov 2025.

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

- [CylinderTag: An Accurate and Flexible Marker for Cylinder-Shape Objects Pose Estimation Based on Projective Invariants](https://mlsanity.com/paper/2310.13320/) (2023)
- [PuzzleBoard: A New Camera Calibration Pattern with Position Encoding](https://mlsanity.com/paper/2409.20127/) (2024)

## Built on by (most cited first, 1 of 1)

- [Conceptual Evaluation of Deep Visual Stereo Odometry for the MARWIN Radiation Monitoring Robot in Accelerator Tunnels](https://mlsanity.com/paper/2512.00080/) (2025)

## Abstract (arXiv)

Reliable perception of the environment is a key enabler for autonomous systems, where calibration and localization tasks often rely on robust visual markers. We introduce the PuzzlePole, a new type of fiducial markers derived from the recently proposed PuzzleBoard calibration pattern. The PuzzlePole is a cylindrical marker, enabling reliable recognition and pose estimation from 360deg viewing direction. By leveraging the unique combinatorial structure of the PuzzleBoard pattern, PuzzlePoles provide a high accuracy in localization and orientation while being robust to occlusions. The design offers flexibility for deployment in diverse autonomous systems scenarios, ranging from robot navigation and SLAM to tangible interfaces.