Efficient Line-Based Visual Marker System Design with Occlusion Resilience

Abstract

Today, the most widely used visual markers, such as ArUco and AprilTag, rely on square pixel arrays. While these markers can deliver satisfactory detection and identification outcomes, they remain vulnerable to corner occlusion despite incorporating corrective codes. Conversely, line-based markers offer increased resilience against occlusions but are typically constrained in terms of codification capacities. The markers developed in this research leverage linear information to propose a pyramidal line-based structure that exhibits robustness to corner occlusion while providing enhanced coding capacities. Moreover, the projective invariance of the constituent lines enables the validation of a homography-less identification method that considerably reduces computation resources and processing time. We assembled an extensive test dataset of 169,713 images for evaluation, including rotation, distances, and different levels of occlusion. Experiments on this dataset show that the proposed marker significantly outperforms previous fiducial marker systems across multiple metrics, including execution time and detection performance under occlusion. It effectively identifies markers with up to 50% occlusion and achieves identification at a resolution of 1920×1080 in 17.20 ms. The developed marker generation and identification, as well as an extensive marker Database, are publicly available for tests at https://github.com/OILUproject/OILUtag.

Author Biographies

Abdallah Bengueddoudj, mohamed el bachir el ibrahimi university of bordj bou arreridj

Abdallah Bengueddoudj received his Master's degree in Electrical Engineering and Industrial Informatics in 2011 from the University of Mohamed Elbachir Elibrahimi of Bordj Bou Arreridj, Algeria, and his Ph.D. degree in Electrical Engineering and Industrial Informatics in 2019, also from the same university. Since 2021, he is a lecturer teacher at the Department of Electromechanics at Bordj Bou Arreridj University. His research interests include multimedia, multiresolution and wavelet analysis, image processing, hardware implementation, pattern recognition.

Foudil Belhadj, mohamed el bachir el ibrahimi university of bordj bou arreridj

Belhadj Foudil is a lecturer teacher at the computer sciences department of the University of Bordj Bou-Arréridj, Algeria. He received his Master's degree in 2007 from M’silà University, Algeria in Industrial Informatics, and his doctorate in 2017 in computer sciences from “Ecole Supérieure d’Informatique (ESI)”, Algeria. His research interests include biometrics, image processing, computer vision, deep learning and embedded systems.

Yongtao Hu, Virtual Reality Technology Co., Ltd., Guangzhou, China

Yongtao Hu received his B.Eng degree in computer science from Shandong University, Jinan,China, in 2010, and the Ph.D. degree in computer science from The University of Hong Kong, Hong Kong, in 2014. He is currently the Head of X-Lab at Guangdong Virtual Reality Technology Co., Ltd. (aka. Ximmerse). Prior to joining Ximmerse, he was a staff researcher with Image and Visual Computing Lab (IVCL), Lenovo Research, Hong Kong, was a researcher assistant with IVCL, and was a research intern at Internet Graphics Group in Microsoft Research Asia (MSRA). His research interests include computer vision, multimedia, machine learning, augmented reality and virtual reality.

Brahim Zitouni, Private Optical Institute of Bordj Bou Arreridj, Algeria

Ibrahim Zitouni is a Doctor in Optics. He received his Ingeniorat degree in optics form the University of Setif (Algeria) in 1984, and a doctorate in optics from the technical university of Berlin (Germany) in 1990. Actually he is the co-founder of the private institute of optics in Bordj Bou Arreridj, and a full teacher. His main research interests are medical optics, 3D ocular prostheses and virtual reality headsets.

Yacine Idir, mohamed el bachir el ibrahimi university of bordj bou arreridj

Idir Yacine He has been proficient in software architecture ,system designs and developing across multi platforms and technologies since 2020. His research interests encompass computer vision and multimedia, focusing on the development of advanced algorithms and applications in these domains.

Ibtissem Adoui, mohamed el bachir el ibrahimi university of bordj bou arreridj

ADOUI Ibtissem is a lecturer teacher at the Electronics department of the University of Bordj Bou-Arréridj, Algeria. She received her Master's degree in 2011 from Farhat Abass-Sétif University, Algeria in Networks and Telecommunications Systems, and her doctorate in 2017 in Electrical Engineering and Industrial Informatics from University of Bordj Bou-Arréridj, Algeria. Her research interests include applied electromagnetism and numerical techniques for the design of antennas and FSS filters and hardware implementation.

Messaoud Mostefai, mohamed el bachir el ibrahimi university of bordj bou arreridj

Messaoud Mostefai is a Professor at the computer science department of Bordj Bou Arreridj. He received his Ingeniorat degree in Electronics «Control», in 1990 from the University Houari Boumedienne (Algeria), and a doctorate in 1995, on Automatics and Signal Processing, form the university of Reims (France). He worked in 2020 with Ultimara company (USA) on the patented OILU numbering system. He is actually the head of the multidisciplinary MSE Laboratory of Bordj Bou Arreridj. His main research interests are focused on signal and image processing, hardware implementation, real time systems, biometrics and recently, SLAM systems.

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Authors

  • Abdallah Bengueddoudj mohamed el bachir el ibrahimi university of bordj bou arreridj
  • Foudil Belhadj mohamed el bachir el ibrahimi university of bordj bou arreridj
  • Yongtao Hu Virtual Reality Technology Co., Ltd., Guangzhou, China
  • Brahim Zitouni Private Optical Institute of Bordj Bou Arreridj, Algeria
  • Yacine Idir mohamed el bachir el ibrahimi university of bordj bou arreridj
  • Ibtissem Adoui mohamed el bachir el ibrahimi university of bordj bou arreridj
  • Messaoud Mostefai mohamed el bachir el ibrahimi university of bordj bou arreridj

DOI:

https://doi.org/10.31449/inf.v49i1.7259

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Published

03/10/2025

How to Cite

Bengueddoudj, A., Belhadj, F., Hu, Y., Zitouni, B., Idir, Y., Adoui, I., & Mostefai, M. (2025). Efficient Line-Based Visual Marker System Design with Occlusion Resilience. Informatica, 49(1). https://doi.org/10.31449/inf.v49i1.7259

Issue

Vol. 49 No. 1 (2025)

Section

Regular papers

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