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Fiducial Marker Ontology

Modified on: 2024-03-27T16:00:00
This version:
http://purl.org/fidmark/1.0/
Issued on:
Date issued
Authors:
Isaac Valadez
Maxim Van de Wynckel
Contributors:
Beat Signer
Imported Ontologies:
<http://purl.org/poso/>
<http://www.w3.org/ns/sosa/>
<http://www.w3.org/ns/ssn/>
<http://www.w3.org/ns/ssn/systems/>
Download serialization:
JSON-LD RDF/XML N-Triples TTL
License:
http://purl.org/NET/rdflicense/cc-by-sa4.0
Visualization:
Visualize with WebVowl
Cite as:
Maxim Van de Wynckel, Isaac Valadez and Beat Signer, FidMark: A Fiducial Marker Ontology for Semantically Describing Visual Markers
Provenance of this page
Ontology Specification Draft

Abstract

Fiducial markers are visual objects that can be placed in the field of view of an imaging sensor to determine its position and orientation, and subsequently the scale and position of other objects within the same field of view. They are used in a wide variety of applications ranging from medical applications to augmented reality (AR) solutions where they are applied to determine the location of an AR headset. Despite the wide range of different marker types with their advantages for specific use cases, there exists no standard to decide which marker to best use in which situation. This leads to proprietary AR solutions that rely on a predefined set of marker and pose detection algorithms, preventing interoperability between AR applications. We propose the FidMark fiducial marker ontology, classifying and describing the different markers available for computer vision and augmented reality along with their spatial position and orientation. Our proposed ontology also describes the procedures required to perform pose estimation, and marker detection to allow the description of algorithms used to perform these procedures. With FidMark we aim to enable future AR solutions to semantically describe markers within an environment so that third-party applications can utilise this information.

Fiducial Marker Ontology: Overview back to ToC

This ontology has the following classes and properties.

Classes

Object Properties

Data Properties

Named Individuals

Fiducial Marker Ontology: Description back to ToC

Methodology

Our design approach for the requirements in our ontology is based on the Linked Open Terms (LOT) methodology. Due to the already existing ontologies for describing fiducial markers in medical sciences, we decided to focus on fiducial markers used within the domain of augmented reality, primarily for position and orientation estimation (commonly defined as a pose). We started by doing an analysis of the different types of markers that exist for different applications within the domain of computer vision. Next, using this set of different markers with their own use-cases for different scenarios and environmental conditions, we have listed a set of use cases, design goals and required data for each type of marker.

Based on the marker analysis and their data, we determined the common attributes and properties of each marker. Two of the main common properties of each marker is the inclusion of an identifier and its ability to be used to determine a pose. Depending on the type of encoding and error correction, these markers use a dictionary that contains a set of possible identifiers that can be encoded within the marker. Image sensors that scan for these markers should know which dictionary is used.

For the terminologies used for these properties we relied on common terms used within academic research as well as standardisation's of fiducials and their intrinsic properties for various domains. We also investigated frameworks and libraries that scan for markers and the variable names that were used for expressing the data.

Ontology Statistics and Profile

Our ontology uses the OWL 2 DL grammar. In total our ontology adds more than 55 classes, 30 data and object properties and more than 30 individuals for existing fiducial markers and dictionaries.

Cross-reference for Fiducial Marker Ontology classes, object properties and data properties back to ToC

This section provides details for each class and property defined by Fiducial Marker Ontology.

Classes

1D barcodec back to ToC or Class ToC

IRI: http://purl.org/fidmark/Barcode1D

A barcode or bar code is a method of representing data in a visual, machine-readable form. Initially, barcodes represented data by varying the widths, spacings and sizes of parallel lines. These barcodes, now commonly referred to as linear or one-dimensional (1D), can be scanned by special optical scanners, called barcode readers, of which there are several types.
Is defined by
https://dbpedia.org/resource/Barcode
has super-classes
Barcode c
has sub-classes
Concentric contrasting circles c

2D barcodec back to ToC or Class ToC

IRI: http://purl.org/fidmark/Barcode2D

Two-dimensional (2D) use rectangles, dots, hexagons and other patterns, called matrix codes or 2D barcodes, although they do not use bars as such. 2D barcodes can be read using purpose-built 2D optical scanners, which exist in a few different forms. 2D barcodes can also be read by a digital camera connected to a microcomputer running software that takes a photographic image of the barcode and analyzes the image to deconstruct and decode the 2D barcode. A mobile device with an inbuilt camera, such as smartphone, can function as the latter type of 2D barcode reader using specialized application software (The same sort of mobile device could also read 1D barcodes, depending on the application software).
Is defined by
https://dbpedia.org/resource/Barcode
has super-classes
Barcode c
has sub-classes
ARTag c, AprilTag c, ArUco c, CALTag c, Chilitags c, ChromaTag c, CyberCode c, MaxiCode c, QR code c, TopoTag c

Active markerc back to ToC or Class ToC

IRI: http://purl.org/fidmark/ActiveMarker

An active fiducial marker is a dynamic marker that can dynamically change its visual appearance in order to enable detection or identification.
Is defined by
https://intapi.sciendo.com/pdf/10.2478/lpts-2022-0040
Example
A marker that uses visible light communication in order to transmit data.
has super-classes
Fiducial marker c

Algebraic Perspective-Three-Point (AP3P) pose computationc back to ToC or Class ToC

IRI: http://purl.org/fidmark/AP3PPoseComputation

Is defined by
https://openaccess.thecvf.com/content_cvpr_2017/html/Ke_An_Efficient_Algebraic_CVPR_2017_paper.html
has super-classes
Perspective-n-Point (PnP) pose computation c

AprilTagc back to ToC or Class ToC

IRI: http://purl.org/fidmark/AprilTag

AprilTag is a visual fiducial system, useful for a wide variety of tasks including augmented reality, robotics, and camera calibration. Targets can be created from an ordinary printer, and the AprilTag detection software computes the precise 3D position, orientation, and identity of the tags relative to the camera. The AprilTag library is implemented in C with no external dependencies. It is designed to be easily included in other applications, as well as be portable to embedded devices. Real-time performance can be achieved even on cell-phone grade processors.
Is defined by
https://april.eecs.umich.edu/software/apriltag
has super-classes
2D barcode c

ARTagc back to ToC or Class ToC

IRI: http://purl.org/fidmark/ARTag

An ARTag is a fiducial marker system to support 3D registration (alignment) and pose tracking in augmented reality. They can be used to facilitate the appearance of virtual objects, games, and animations within the real world. Like the earlier ARToolKit system, they allow for video tracking capabilities that calculate a camera's position and orientation relative to physical markers in real time. Once the camera's position is known, a virtual camera can be positioned at the same point, revealing the virtual object at the location of the ARTag. It thus addresses two of the key problems in Augmented Reality: viewpoint tracking and virtual object interaction. An ARTag appears on the Mars Science Laboratory.A similar technique is being used by NASA's Spacecraft 3D smartphone app as an educational outreach tool. ARTag is supported by the open source Goblin XNA software.
Is defined by
https://dbpedia.org/resource/ARTag
has super-classes
2D barcode c

ARToolKitc back to ToC or Class ToC

IRI: http://purl.org/fidmark/ARToolKit

ARToolKit is an open-source computer tracking library for creation of strong augmented reality applications that overlay virtual imagery on the real world. Currently, it is maintained as an open-source project hosted on GitHub. ARToolKit is a very widely used AR tracking library with over 160,000 downloads on its last public release in 2004.
Is defined by
https://dbpedia.org/resource/ARToolKit
has super-classes
Barcode c

ArUcoc back to ToC or Class ToC

IRI: http://purl.org/fidmark/ArUco

An ArUco marker is a synthetic square marker composed by a wide black border and an inner binary matrix which determines its identifier (id). The black border facilitates its fast detection in the image and the binary codification allows its identification and the application of error detection and correction techniques. The marker size determines the size of the internal matrix. For instance a marker size of 4x4 is composed by 16 bits.
Is defined by
https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html
has super-classes
2D barcode c

Augmented Reality (AR) platformc back to ToC or Class ToC

IRI: http://purl.org/fidmark/ARPlatform

has super-classes
platform c

Barcodec back to ToC or Class ToC

IRI: http://purl.org/fidmark/Barcode

A barcode or bar code is a method of representing data in a visual, machine-readable form.
Is defined by
https://dbpedia.org/resource/Barcode
is equivalent to
barcode c
barcode c
has super-classes
Passive marker c
has sub-classes
1D barcode c, 2D barcode c, ARToolKit c, BinaryID c, BullsEye c, Circular barcode c, Pi-Tag c, SIFT c, STag c, TRIP c, VisualCode c

BinaryIDc back to ToC or Class ToC

IRI: http://purl.org/fidmark/BinaryID

has super-classes
Barcode c

BullsEyec back to ToC or Class ToC

IRI: http://purl.org/fidmark/BullsEye

has super-classes
Barcode c

CALTagc back to ToC or Class ToC

IRI: http://purl.org/fidmark/CALTag

CALTag is a self-identifying marker pattern that can be accurately and automatically detected in images. Detection is robust to occlusions, uneven illumination and moderate lens distortion. Chequerboards are often used for camera calibration, with the interior saddle points providing the necessary point correspondences. Manual identification of these points is at best tedious, and at worst, infeasible and unreliable (especially when calibrating large arrays of cameras). By augmenting the pattern with self-identifying binary codes, much like the excellent ARTag system, this process can be automated. Whereas ARTag has highly robust error detection and correction, it suffers from licence restrictions, and a somewhat inaccurate corner detector. CALTag employs rudimentary error detection, but the code is free to use and modify, and it detects corners using a very accurate saddle-point finder.
Is defined by
https://www.cs.ubc.ca/labs/imager/tr/2010/Atcheson_VMV2010_CALTag/
has super-classes
2D barcode c

CCTagc back to ToC or Class ToC

IRI: http://purl.org/fidmark/CCTag

CCTag markers are a robust, highly accurate fiducial system that can be robustly localized in the image even under challenging conditions. The library can efficiently detect the position of the image of the (common) circle center and identify the marker based on the different ratio of their crown sizes. Each marker can be uniquely identified thanks to the thickness of each crown, which encodes the information of the marker, typically a unique ID.
Is defined by
https://cctag.readthedocs.io/en/latest/
has super-classes
Circular barcode c

Chilitagsc back to ToC or Class ToC

IRI: http://purl.org/fidmark/Chilitags

Chilitags are a C++ cross-platform software library for the detection and identification of 2D fiducial markers (a.k.a. tags). Their purpose is to be printed and placed on objects from the real world, to form the basis of Robotics or Augmented Reality (AR) applications. Using a camera, the position of the tagged objects can be acquired by a computer.
Is defined by
https://github.com/chili-epfl/chilitags
has super-classes
2D barcode c

ChromaTagc back to ToC or Class ToC

IRI: http://purl.org/fidmark/ChromaTag

ChromaTag is a colored fiducial marker and detection algorithm that is significantly faster than other markers; it uses opponent colors to limit and quickly reject initial false detections and grayscale for precise localization.
Is defined by
https://github.com/CogChameleon/ChromaTag
has super-classes
2D barcode c

Circular barcodec back to ToC or Class ToC

IRI: http://purl.org/fidmark/CircularBarcode

A circular barcode is made up of a series of concentric circles and is typically based on a standard barcode symbology. The barcode is thus readable by the same devices used to read traditional barcodes. The circular barcode can be scanned from any angle. The reading is not influenced by the orientation of the symbol. The redundancy in information ensures a good reading in every case, even if the surface is partially damaged.
Is defined by
https://www.technoriversoft.com/CircularBarcode.html
has super-classes
Barcode c
has sub-classes
CCTag c, Concentric contrasting circles c, FourierTag c, InterSense c, RuneTag c, WhyCode c, why con c
is in domain of
number of crowns dp

Concentric contrasting circlesc back to ToC or Class ToC

IRI: http://purl.org/fidmark/CCC

A CCC is formed by placing a black ring on a white background. A CCC can also be thought of as a small white circle whose center is coincident with the center of a larger black circle, all on a white background. CCCs can be easily manufactured, it is easily extracted from the image, its extrtion is robust, it is a passive feature, and its centroid is completely invariant to the three translational and one rotational degrees of freedom and nearly invariant to the remaining two rotational degrees of freedom.
Is defined by
https://doi.org/10.1117/12.56761
has super-classes
1D barcode c, Circular barcode c

CyberCodec back to ToC or Class ToC

IRI: http://purl.org/fidmark/Cybercode

The CyberCode is a visual tagging system based on a 2D-barcode technology and provides several features not provided by other tagging systems. CyberCode tags can be recognized by the low-cost CMOS or CCD cameras found in more and more mobile devices, and it can also be used to determine the 3D position of the tagged object as well as its ID number.
Is defined by
https://dl.acm.org/doi/abs/10.1145/354666.354667
has super-classes
2D barcode c

Efficient Perspective-n-Point (EPnP) pose computationc back to ToC or Class ToC

IRI: http://purl.org/fidmark/EPnPPoseComputation

Is defined by
https://infoscience.epfl.ch/record/160138
has super-classes
Perspective-n-Point (PnP) pose computation c

Fiducial markerc back to ToC or Class ToC

IRI: http://purl.org/fidmark/FiducialMarker

A fiducial marker or fiducial is an object placed in the field of view of an imaging system that appears in the image produced, for use as a point of reference or a measure. It may be either something placed into or on the imaging subject, or a mark or set of marks in the reticle of an optical instrument.
Is defined by
https://dbpedia.org/resource/Fiducial_marker
has super-classes
tracked feature c, visual landmark c
has sub-classes
Active marker c, Passive marker c
is in domain of
has image descriptor op, has marker dictionary op, has marker height op, has marker width op, marker color, marker data dp, marker encoding, marker identifier dp, marker shape
is in range of
has marker op, supported marker

FourierTagc back to ToC or Class ToC

IRI: http://purl.org/fidmark/FourierTag

a synthetic fiducial marker used to visually encode information and provide controllable positioning. The Fourier tag is a synthetic target akin to a bar-code that specifies multi-bit information which can be efficiently and robustly detected in an image. Moreover, the Fourier tag has the beneficial property that the bit string it encodes has variable length as a function of the distance between the camera and the target. This follows from the fact that the effective resolution decreases as an effect of perspective.
Is defined by
https://ieeexplore.ieee.org/document/4228536
has super-classes
Circular barcode c

Image descriptorc back to ToC or Class ToC

IRI: http://purl.org/fidmark/ImageDescriptor

An image descriptor is a visual descriptor of a fiducial marker.
has super-classes
property c
is in domain of
as NFT dp, as ZFT dp, as image dp
is in range of
has image descriptor op

Infinitesimal Plane-Based Pose Estimation (IPPE)c back to ToC or Class ToC

IRI: http://purl.org/fidmark/IPPEPoseComputation

Is defined by
https://doi.org/10.1007/s11263-014-0725-5
has super-classes
Perspective-n-Point (PnP) pose computation c

InterSensec back to ToC or Class ToC

IRI: http://purl.org/fidmark/InterSense

has super-classes
Circular barcode c

Marker based pose estimationc back to ToC or Class ToC

IRI: http://purl.org/fidmark/MarkerPoseEstimation

Marker based pose estimation is a positioning technique that determines a position and orientation from a detected marker.
has super-classes
positioning technique c
is disjoint with
Markerless pose estimation c

Marker detectionc back to ToC or Class ToC

IRI: http://purl.org/fidmark/MarkerDetection

Marker detection is a procedure where an image sensor (e.g. a camera) detects a fiducial marker in its field of view.
has super-classes
procedure c

Marker dictionaryc back to ToC or Class ToC

IRI: http://purl.org/fidmark/MarkerDictionary

A marker dictionary is a specified encoding that produces a set of identifiers that can be used for markers.
has super-classes
property c
is in domain of
code op, codes op, dictionary size dp, hamming distance dp, marker bits dp, maximum identifiers dp, supported marker, version dp
is in range of
has marker dictionary op
has members
ARTag dictionary ni, AprilTag 16h5 dictionary ni, AprilTag 25h9 dictionary ni, AprilTag 36h10 dictionary ni, AprilTag 36h11 dictionary ni, ArUco 4x4 dictionary with 100 tags ni, ArUco 4x4 dictionary with 1000 tags ni, ArUco 4x4 dictionary with 250 tags ni, ArUco 4x4 dictionary with 50 tags ni, ArUco 5x5 dictionary with 100 tags ni, ArUco 5x5 dictionary with 1000 tags ni, ArUco 5x5 dictionary with 250 tags ni, ArUco 5x5 dictionary with 50 tags ni, ArUco 6x6 dictionary with 100 tags ni, ArUco 6x6 dictionary with 1000 tags ni, ArUco 6x6 dictionary with 250 tags ni, ArUco 6x6 dictionary with 50 tags ni, ArUco 7x7 dictionary with 100 tags ni, ArUco 7x7 dictionary with 1000 tags ni, ArUco 7x7 dictionary with 250 tags ni, ArUco 7x7 dictionary with 50 tags ni, ArUco MIP 16h3 dictionary ni, ArUco MIP 25h7 dictionary ni, ArUco MIP 36h12 dictionary ni, ArUco original dictionary ni, ChilliTags dictionary ni, TopoTag 3x3 dictionary ni, TopoTag 4x4 dictionary ni, TopoTag 5x5 dictionary ni, d i c t m i p 16h3 ni, d i c t m i p 25h7 ni, d i c t m i p 36h12 ni, reacTIVision amoeba symbology ni, reacTIVision yamaarashi symbology ni

Marker dictionary codec back to ToC or Class ToC

IRI: http://purl.org/fidmark/MarkerDictionaryCode

has super-classes
is in range of
code op

Marker originc back to ToC or Class ToC

IRI: http://purl.org/fidmark/MarkerOrigin

Marker origin indicates the origin of the 0-point on the marker's surface.
has super-classes
property c
has members
Bottom left origin ni, Bottom right origin ni, Center origin ni, Top left origin ni, Top right origin ni

Markerless pose estimationc back to ToC or Class ToC

IRI: http://purl.org/fidmark/MarkerlessPoseEstimation

Markerless pose estimation is any pose estimation algorithm that does not make use of markers to determine a pose.
has super-classes
positioning technique c
is disjoint with
Marker based pose estimation c

MaxiCodec back to ToC or Class ToC

IRI: http://purl.org/fidmark/MaxiCode

MaxiCode is a public domain, machine-readable symbol system originally created by the United Parcel Service in 1992. Suitable for tracking and managing the shipment of packages, it resembles an Aztec Code or QR code, but uses dots arranged in a hexagonal grid instead of square grid.
Is defined by
https://dbpedia.org/resource/MaxiCode
has super-classes
2D barcode c

Multi-ringc back to ToC or Class ToC

IRI: http://purl.org/fidmark/MultiRing

Multi-ring color fiducials have different number of rings at different fiducial levels. We extend the concentric circular fiducials to multi-ring, multi-size fiducial systems. These provide scalability to fiducial tracking AR. Because the fiducial systems are incremental, they allow the tracking range to be easily extended. The fiducial systems also introduce a large number of unique fiducials, and that makes fiducial identification easier. These fiducial systems help in building large-scale applications by providing a convenient way to unify multiple local coordinate systems.
Is defined by
https://doi.org/10.1109/VRAIS.1998.658494
has super-classes
Passive marker c

Passive markerc back to ToC or Class ToC

IRI: http://purl.org/fidmark/PassiveMarker

Example
A printed marker is a passive marker.
has super-classes
Fiducial marker c
has sub-classes
Barcode c, Multi-ring c, reacTIVision c

Perspective-n-Point (PnP) pose computationc back to ToC or Class ToC

IRI: http://purl.org/fidmark/PnPPoseComputation

The pose computation problem consists in solving for the rotation and translation that minimizes the reprojection error from 3D-2D point correspondences.
Is defined by
https://docs.opencv.org/4.x/d5/d1f/calib3d_solvePnP.html
has super-classes
positioning technique c
has sub-classes
Algebraic Perspective-Three-Point (AP3P) pose computation c, Efficient Perspective-n-Point (EPnP) pose computation c, Infinitesimal Plane-Based Pose Estimation (IPPE) c, Perspective-Three-Point (P3P) pose computation c

Perspective-Three-Point (P3P) pose computationc back to ToC or Class ToC

IRI: http://purl.org/fidmark/P3PPoseComputation

Is defined by
https://doi.org/10.1109/TPAMI.2003.1217599
has super-classes
Perspective-n-Point (PnP) pose computation c

Pi-Tagc back to ToC or Class ToC

IRI: http://purl.org/fidmark/PiTag

Is defined by
http://dx.doi.org/10.1007/s00138-012-0469-6
has super-classes
Barcode c

Pose outputc back to ToC or Class ToC

IRI: http://purl.org/fidmark/PoseOutput

has super-classes
output c

QR codec back to ToC or Class ToC

IRI: http://purl.org/fidmark/QRCode

A QR code (an initialism for quick response code) is a type of matrix barcode (or two-dimensional barcode) invented in 1994 by the Japanese company Denso Wave. A barcode is a machine-readable optical label that can contain information about the item to which it is attached. In practice, QR codes often contain data for a locator, identifier, or tracker that points to a website or application. QR codes use four standardized encoding modes (numeric, alphanumeric, byte/binary, and kanji) to store data efficiently; extensions may also be used.
has super-classes
2D barcode c

reacTIVisionc back to ToC or Class ToC

IRI: http://purl.org/fidmark/reacTIVision

reacTIVision is an open source, cross-platform computer vision framework for the fast and robust tracking of fiducial markers attached onto physical objects, as well as for multi-touch finger tracking. It was mainly designed as a toolkit for the rapid development of table-based tangible user interfaces (TUI) and multi-touch interactive surfaces. This framework has been developed by Martin Kaltenbrunner and Ross Bencina as the underlying sensor component of the Reactable, a tangible modular synthesizer that has set the standards for tangible multi-touch applications.
Is defined by
https://reactivision.sourceforge.net/
has super-classes
Passive marker c

RuneTagc back to ToC or Class ToC

IRI: http://purl.org/fidmark/RuneTag

RUNETag is a fiducial marker system which heavily relies on the robust framework of cyclic codes to offer superior occlusion resilience, accurate detection and robustness against various types of noise. Our tags are composed by a set of circular high-contrast features (dots) spatially arranged into concentric layers. The reciprocal dot positions between layers is studied to allow the identification and pose estimation of the marker even with severe occlusions. Additionally, the marker interior is left free for any additional user payload.
Is defined by
https://github.com/artursg/RUNEtag
has super-classes
Circular barcode c

SIFTc back to ToC or Class ToC

IRI: http://purl.org/fidmark/SIFT

has super-classes
Barcode c

STagc back to ToC or Class ToC

IRI: http://purl.org/fidmark/STag

has super-classes
Barcode c

TopoTagc back to ToC or Class ToC

IRI: http://purl.org/fidmark/TopoTag

Fiducial markers have been playing an important role in augmented reality (AR), robot navigation, and general applications where the relative pose between a camera and an object is required. Here we introduce TopoTag, a robust and scalable topological fiducial marker system, which supports reliable and accurate pose estimation from a single image. TopoTag uses topological and geometrical information in marker detection to achieve higher robustness. Topological information is extensively used for 2D marker detection, and further corresponding geometrical information for ID decoding. Robust 3D pose estimation is achieved by taking advantage of all TopoTag vertices. Without sacrificing bits for higher recall and precision like previous systems, TopoTag can use full bits for ID encoding. TopoTag supports tens of thousands unique IDs and easily extends to millions of unique tags resulting in massive scalability.
Is defined by
https://herohuyongtao.github.io/research/publications/topo-tag/
has super-classes
2D barcode c

TRIPc back to ToC or Class ToC

IRI: http://purl.org/fidmark/TRIP

has super-classes
Barcode c

VisualCodec back to ToC or Class ToC

IRI: http://purl.org/fidmark/VisualCode

has super-classes
Barcode c

why conc back to ToC or Class ToC

IRI: http://purl.org/fidmark/WhyCon

has super-classes
Circular barcode c

WhyCodec back to ToC or Class ToC

IRI: http://purl.org/fidmark/WhyCode

Is defined by
https://dl.acm.org/doi/10.1145/3161534.3161537
has super-classes
Circular barcode c

Object Properties

codeop back to ToC or Object Property ToC

IRI: http://purl.org/fidmark/code

A single code for a dictionary
has domain
Marker dictionary c
has range
Marker dictionary code c

codesop back to ToC or Object Property ToC

IRI: http://purl.org/fidmark/codes

A list of codes associated to a dictionary.
has domain
Marker dictionary c
has range
list c

has image descriptorop back to ToC or Object Property ToC

IRI: http://purl.org/fidmark/hasImageDesciptor

has characteristics: functional, inverse functional

has super-properties
has property op
has domain
Fiducial marker c
has range
Image descriptor c

has markerop back to ToC or Object Property ToC

IRI: http://purl.org/fidmark/hasMarker

Indicates a marker on an (optical) positioning system
has super-properties
has feature of interest op
has range
Fiducial marker c

has marker dictionaryop back to ToC or Object Property ToC

IRI: http://purl.org/fidmark/hasDictionary

A marker dictionary defines the different variants that can be achieved using the available encoded bits and error correction.
has super-properties
has property op
has domain
Fiducial marker c
has range
Marker dictionary c

has marker heightop back to ToC or Object Property ToC

IRI: http://purl.org/fidmark/hasHeight

Defines the marker height in a specified unit. This can be used for determining the scale of the marker.
has super-properties
has property op
has domain
Fiducial marker c

has marker widthop back to ToC or Object Property ToC

IRI: http://purl.org/fidmark/hasWidth

Defines the marker width in a specified unit. This can be used for determining the scale of the marker.
has super-properties
has property op
has domain
Fiducial marker c

has originop back to ToC or Object Property ToC

IRI: http://purl.org/fidmark/hasOrigin

has super-properties
has property op

is image descriptor ofop back to ToC or Object Property ToC

IRI: http://purl.org/fidmark/isImageDescriptorOf

has characteristics: functional, inverse functional

has super-properties
is property of op

part ofop back to ToC or Object Property ToC

IRI: http://purl.org/fidmark/partOf

Describes a feature of interest being part of another feature of interest.
Example
A fiducial marker can be part of a larger fiducial marker.
has domain
feature of interest c
has range
feature of interest c

Data Properties

as imagedp back to ToC or Data Property ToC

IRI: http://purl.org/fidmark/asImage

A marker image links to an image URI or base64 representation of the marker.
has domain
Image descriptor c
has range
anyURI
hex binary

as NFTdp back to ToC or Data Property ToC

IRI: http://purl.org/fidmark/asNFT

Image descriptor as natural feature tracking descriptor
has domain
Image descriptor c
has range
anyURI
hex binary

as patterndp back to ToC or Data Property ToC

IRI: http://purl.org/fidmark/asPATT

as ZFTdp back to ToC or Data Property ToC

IRI: http://purl.org/fidmark/asZFT

has domain
Image descriptor c
has range
anyURI
hex binary

CRCdp back to ToC or Data Property ToC

IRI: http://purl.org/fidmark/crc

dictionary sizedp back to ToC or Data Property ToC

IRI: http://purl.org/fidmark/dictionarySize

has equivalent properties
maximum identifiers dp
has domain
Marker dictionary c

hamming distancedp back to ToC or Data Property ToC

IRI: http://purl.org/fidmark/hammingDistance

The minimum hamming distance between two codes
Example
In a 16h5 dictionary, the first number indicates the amount of bits that can be encoded, the second number the minimum hamming distance.
has domain
Marker dictionary c
has range
integer

marker bitsdp back to ToC or Data Property ToC

IRI: http://purl.org/fidmark/markerBits

Marker bits indicates the amount of bits that are available.
Example
In a 16h5 dictionary, the first number indicates the amount of bits that can be encoded, the second number the minimum hamming distance.
has domain
Marker dictionary c
has range
integer

marker codedp back to ToC or Data Property ToC

IRI: http://purl.org/fidmark/markerCode

Marker hexadecimal code
has range
hex binary

marker datadp back to ToC or Data Property ToC

IRI: http://purl.org/fidmark/markerData

Encoded information within a marker.
has sub-properties
marker identifier dp
has domain
Fiducial marker c
has range
hex binary
string

marker identifierdp back to ToC or Data Property ToC

IRI: http://purl.org/fidmark/markerIdentifier

If the marker can be identified using a specified dictionary, its identifier can be indicated using this data property.
has super-properties
marker data dp
has domain
Fiducial marker c

maximum identifiersdp back to ToC or Data Property ToC

IRI: http://purl.org/fidmark/maxIdentifiers

has equivalent properties
dictionary size dp
has domain
Marker dictionary c
has range
integer

number of crownsdp back to ToC or Data Property ToC

IRI: http://purl.org/fidmark/crowns

Indicates the number of crowns in a circular barcode.
has domain
Circular barcode c
has range
integer

versiondp back to ToC or Data Property ToC

IRI: http://purl.org/fidmark/version

The version number of a marker dictionary.
has domain
Marker dictionary c
has range
integer

Named Individuals

AprilTag 16h5 dictionaryni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_APRILTAG_16h5

belongs to
Marker dictionary c
has facts
hamming distance dp "5"^^integer
marker bits dp "16"^^integer
maximum identifiers dp "30"^^integer

AprilTag 25h9 dictionaryni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_APRILTAG_25h9

belongs to
Marker dictionary c
has facts
hamming distance dp "9"^^integer
marker bits dp "25"^^integer
maximum identifiers dp "35"^^integer

AprilTag 36h10 dictionaryni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_APRILTAG_36h10

belongs to
Marker dictionary c
has facts
hamming distance dp "10"^^integer
marker bits dp "36"^^integer
maximum identifiers dp "2320"^^integer

AprilTag 36h11 dictionaryni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_APRILTAG_36h11

belongs to
Marker dictionary c
has facts
hamming distance dp "11"^^integer
marker bits dp "36"^^integer
maximum identifiers dp "587"^^integer

ARTag dictionaryni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_ARTAG

belongs to
Marker dictionary c
has facts
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marker bits dp "36"^^integer

ArUco 4x4 dictionary with 100 tagsni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_4X4_100

belongs to
Marker dictionary c
has facts
hamming distance dp "3"^^integer
marker bits dp "16"^^integer
maximum identifiers dp "100"^^integer

ArUco 4x4 dictionary with 1000 tagsni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_4X4_1000

belongs to
Marker dictionary c
has facts
hamming distance dp "2"^^integer
marker bits dp "16"^^integer
maximum identifiers dp "1000"^^integer

ArUco 4x4 dictionary with 250 tagsni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_4X4_250

belongs to
Marker dictionary c
has facts
hamming distance dp "3"^^integer
marker bits dp "16"^^integer
maximum identifiers dp "250"^^integer

ArUco 4x4 dictionary with 50 tagsni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_4X4_50

belongs to
Marker dictionary c
has facts
hamming distance dp "4"^^integer
marker bits dp "16"^^integer
maximum identifiers dp "50"^^integer

ArUco 5x5 dictionary with 100 tagsni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_5X5_100

belongs to
Marker dictionary c
has facts
hamming distance dp "7"^^integer
marker bits dp "25"^^integer
maximum identifiers dp "100"^^integer

ArUco 5x5 dictionary with 1000 tagsni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_5X5_1000

belongs to
Marker dictionary c
has facts
hamming distance dp "5"^^integer
marker bits dp "25"^^integer
maximum identifiers dp "1000"^^integer

ArUco 5x5 dictionary with 250 tagsni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_5X5_250

belongs to
Marker dictionary c
has facts
hamming distance dp "6"^^integer
marker bits dp "25"^^integer
maximum identifiers dp "250"^^integer

ArUco 5x5 dictionary with 50 tagsni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_5X5_50

belongs to
Marker dictionary c
has facts
hamming distance dp "8"^^integer
marker bits dp "25"^^integer
maximum identifiers dp "50"^^integer

ArUco 6x6 dictionary with 100 tagsni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_6X6_100

belongs to
Marker dictionary c
has facts
hamming distance dp "12"^^integer
marker bits dp "36"^^integer
maximum identifiers dp "100"^^integer

ArUco 6x6 dictionary with 1000 tagsni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_6X6_1000

belongs to
Marker dictionary c
has facts
hamming distance dp "9"^^integer
marker bits dp "36"^^integer
maximum identifiers dp "1000"^^integer

ArUco 6x6 dictionary with 250 tagsni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_6X6_250

belongs to
Marker dictionary c
has facts
hamming distance dp "11"^^integer
marker bits dp "36"^^integer
maximum identifiers dp "250"^^integer

ArUco 6x6 dictionary with 50 tagsni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_6X6_50

belongs to
Marker dictionary c
has facts
hamming distance dp "13"^^integer
marker bits dp "36"^^integer
maximum identifiers dp "50"^^integer

ArUco 7x7 dictionary with 100 tagsni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_7X7_100

belongs to
Marker dictionary c
has facts
hamming distance dp "18"^^integer
marker bits dp "49"^^integer
maximum identifiers dp "100"^^integer

ArUco 7x7 dictionary with 1000 tagsni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_7X7_1000

belongs to
Marker dictionary c
has facts
hamming distance dp "14"^^integer
marker bits dp "49"^^integer
maximum identifiers dp "1000"^^integer

ArUco 7x7 dictionary with 250 tagsni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_7X7_250

belongs to
Marker dictionary c
has facts
hamming distance dp "17"^^integer
marker bits dp "49"^^integer
maximum identifiers dp "250"^^integer

ArUco 7x7 dictionary with 50 tagsni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_7X7_50

belongs to
Marker dictionary c
has facts
hamming distance dp "19"^^integer
marker bits dp "49"^^integer
maximum identifiers dp "50"^^integer

ArUco MIP 16h3 dictionaryni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_ARUCO_MIP_16h3

belongs to
Marker dictionary c
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code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
hamming distance dp "3"^^integer
marker bits dp "16"^^integer
maximum identifiers dp "250"^^integer

ArUco MIP 25h7 dictionaryni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_ARUCO_MIP_25h7

belongs to
Marker dictionary c
has facts
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
code op ""
hamming distance dp "7"^^integer
marker bits dp "25"^^integer
maximum identifiers dp "100"^^integer

ArUco MIP 36h12 dictionaryni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_ARUCO_MIP_36h12

belongs to
Marker dictionary c
has facts
hamming distance dp "12"^^integer
marker bits dp "36"^^integer
maximum identifiers dp "250"^^integer

ArUco original dictionaryni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_ARUCO_ORIGINAL

belongs to
Marker dictionary c
has facts
code op ""
hamming distance dp "0"^^integer
maximum identifiers dp "1024"^^integer

Bottom left originni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/OriginBottomLeft

belongs to
Marker origin c

Bottom right originni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/OriginBottomRight

Bottom right origin of a square marker.
belongs to
Marker origin c

Center originni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/OriginCenter

The center origin is the absolute center of a marker.
belongs to
Marker origin c

ChilliTags dictionaryni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_CHILLITAGS

belongs to
Marker dictionary c

d i c t m i p 16h3ni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_MIP_16h3

belongs to
Marker dictionary c

d i c t m i p 25h7ni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_MIP_25h7

belongs to
Marker dictionary c

d i c t m i p 36h12ni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_MIP_36h12

belongs to
Marker dictionary c

reacTIVision amoeba symbologyni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_REACTIVISION_AMOEBA

belongs to
Marker dictionary c
has facts
dictionary size dp "215"^^integer

reacTIVision yamaarashi symbologyni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_REACTIVISION_YAMAARASHI

belongs to
Marker dictionary c
has facts
dictionary size dp "299"^^integer

Top left originni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/OriginTopLeft

belongs to
Marker origin c

Top right originni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/OriginTopRight

belongs to
Marker origin c

TopoTag 3x3 dictionaryni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_TOPOTAG_3X3

belongs to
Marker dictionary c
has facts
marker bits dp "9"^^integer
maximum identifiers dp "128"^^integer

TopoTag 4x4 dictionaryni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_TOPOTAG_4X4

belongs to
Marker dictionary c
has facts
marker bits dp "16"^^integer
maximum identifiers dp "16384"^^integer

TopoTag 5x5 dictionaryni back to ToC or Named Individual ToC

IRI: http://purl.org/fidmark/DICT_TOPOTAG_5X5

belongs to
Marker dictionary c
has facts
marker bits dp "25"^^integer
maximum identifiers dp "8388608"^^integer

Legend back to ToC

c: Classes
op: Object Properties
dp: Data Properties
ni: Named Individuals

Acknowledgments back to ToC

The authors would like to thank Silvio Peroni for developing LODE, a Live OWL Documentation Environment, which is used for representing the Cross Referencing Section of this document and Daniel Garijo for developing Widoco, the program used to create the template used in this documentation.