A Novel ArUco Marker for Event Cameras

The event camera is a novel visual sensor that only captures brightness changes information. It has the advantages of high dynamic range and no image blurring caused by high-speed movement. In addition, some existing machine vision markers perform well in tasks such as pose estimation and tracking, but there is not a marker that is suitable for event camera in static environment. In this paper, we designed a kind of marker using LED dot matrix for event camera with reference to ArUco marker, named as EVNT-ArUco. A detection method is proposed to identify EVNT-ArUco marker by capturing information of alternating bright and dark changes of LED matrix. Thus it can combine the advantages of event camera and markers. The experimental results show that the accuracy of the event camera to detect EVNT-ArUco marker is comparable to that of the traditional ArUco marker. Moreover, EVNT-ArUco marker performs significantly better than traditional markers under poor exposure conditions and fast motion environments.