Package Summary
Tags | No category tags. |
Version | 3.4.3 |
License | BSD |
Build type | CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/AprilRobotics/apriltag.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-11 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Max Krogius
- Wolfgang Merkt
- Christian Rauch
Authors
- Edwin Olson
- Max Krogius
AprilTag 3
AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies.
You can find tag images for the pre-generated layouts here. We recommend using the tagStandard41h12 layout.
Table of Contents
Papers
AprilTag is the subject of the following papers.
AprilTag: A robust and flexible visual fiducial system
AprilTag 2: Efficient and robust fiducial detection
Flexible Layouts for Fiducial Tags
Install
Officially only Linux operating systems are supported, although users have had success installing on Windows too.
The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
This will build shared (*.so) libraries by default. If you need static (*.a) libraries set BUILD_SHARED_LIBS
to OFF
:
cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF
cmake --build build --target install
If you have Ninja (sudo apt install ninja-build
) installed, you can use:
cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
to generate and compile via the ninja build script. It will be much faster than with cmake’s default Makefile generator.
You can omit --target install
if you only want to use this locally without installing.
Usage
Choosing a Tag Family
For the vast majority of applications, the tagStandard41h12 family will be the correct choice. You can find the images for the tags in the apriltag-imgs repo. Scale up the images in your favorite editor and print them out.
Some heuristics for when to choose other tag families:
- If you need more tags, use tagStandard52h13
- If you need to maximize the use of space on a small circular object, use tagCircle49h12 (or tagCircle21h7).
- If you want to make a recursive tag use tagCustom48h12.
- If you want compatibility with the ArUcO detector use tag36h11
If none of these fit your needs, generate your own custom tag family here.
Getting Started with the Detector
Python
import cv2
import numpy as np
from apriltag import apriltag
imagepath = 'test.jpg'
image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
detector = apriltag("tagStandard41h12")
detections = detector.detect(image)
Alternately you can use the AprilTag python bindings created by duckietown.
C
image_u8_t* im = image_u8_create_from_pnm("test.pnm");
if (im == NULL) {
fprintf(stderr, "Failed to load pnm image.\n");
exit(1);
}
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
apriltag_ros | |
apriltag_detector_umich |
Launch files
Messages
Services
Plugins
Recent questions tagged apriltag at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 3.4.3 |
License | BSD |
Build type | CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/AprilRobotics/apriltag.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-11 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Max Krogius
- Wolfgang Merkt
- Christian Rauch
Authors
- Edwin Olson
- Max Krogius
AprilTag 3
AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies.
You can find tag images for the pre-generated layouts here. We recommend using the tagStandard41h12 layout.
Table of Contents
Papers
AprilTag is the subject of the following papers.
AprilTag: A robust and flexible visual fiducial system
AprilTag 2: Efficient and robust fiducial detection
Flexible Layouts for Fiducial Tags
Install
Officially only Linux operating systems are supported, although users have had success installing on Windows too.
The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
This will build shared (*.so) libraries by default. If you need static (*.a) libraries set BUILD_SHARED_LIBS
to OFF
:
cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF
cmake --build build --target install
If you have Ninja (sudo apt install ninja-build
) installed, you can use:
cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
to generate and compile via the ninja build script. It will be much faster than with cmake’s default Makefile generator.
You can omit --target install
if you only want to use this locally without installing.
Usage
Choosing a Tag Family
For the vast majority of applications, the tagStandard41h12 family will be the correct choice. You can find the images for the tags in the apriltag-imgs repo. Scale up the images in your favorite editor and print them out.
Some heuristics for when to choose other tag families:
- If you need more tags, use tagStandard52h13
- If you need to maximize the use of space on a small circular object, use tagCircle49h12 (or tagCircle21h7).
- If you want to make a recursive tag use tagCustom48h12.
- If you want compatibility with the ArUcO detector use tag36h11
If none of these fit your needs, generate your own custom tag family here.
Getting Started with the Detector
Python
import cv2
import numpy as np
from apriltag import apriltag
imagepath = 'test.jpg'
image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
detector = apriltag("tagStandard41h12")
detections = detector.detect(image)
Alternately you can use the AprilTag python bindings created by duckietown.
C
image_u8_t* im = image_u8_create_from_pnm("test.pnm");
if (im == NULL) {
fprintf(stderr, "Failed to load pnm image.\n");
exit(1);
}
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
apriltag_ros | |
apriltag_detector_umich |
Launch files
Messages
Services
Plugins
Recent questions tagged apriltag at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 3.4.3 |
License | BSD |
Build type | CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/AprilRobotics/apriltag.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-11 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Max Krogius
- Wolfgang Merkt
- Christian Rauch
Authors
- Edwin Olson
- Max Krogius
AprilTag 3
AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies.
You can find tag images for the pre-generated layouts here. We recommend using the tagStandard41h12 layout.
Table of Contents
Papers
AprilTag is the subject of the following papers.
AprilTag: A robust and flexible visual fiducial system
AprilTag 2: Efficient and robust fiducial detection
Flexible Layouts for Fiducial Tags
Install
Officially only Linux operating systems are supported, although users have had success installing on Windows too.
The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
This will build shared (*.so) libraries by default. If you need static (*.a) libraries set BUILD_SHARED_LIBS
to OFF
:
cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF
cmake --build build --target install
If you have Ninja (sudo apt install ninja-build
) installed, you can use:
cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
to generate and compile via the ninja build script. It will be much faster than with cmake’s default Makefile generator.
You can omit --target install
if you only want to use this locally without installing.
Usage
Choosing a Tag Family
For the vast majority of applications, the tagStandard41h12 family will be the correct choice. You can find the images for the tags in the apriltag-imgs repo. Scale up the images in your favorite editor and print them out.
Some heuristics for when to choose other tag families:
- If you need more tags, use tagStandard52h13
- If you need to maximize the use of space on a small circular object, use tagCircle49h12 (or tagCircle21h7).
- If you want to make a recursive tag use tagCustom48h12.
- If you want compatibility with the ArUcO detector use tag36h11
If none of these fit your needs, generate your own custom tag family here.
Getting Started with the Detector
Python
import cv2
import numpy as np
from apriltag import apriltag
imagepath = 'test.jpg'
image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
detector = apriltag("tagStandard41h12")
detections = detector.detect(image)
Alternately you can use the AprilTag python bindings created by duckietown.
C
image_u8_t* im = image_u8_create_from_pnm("test.pnm");
if (im == NULL) {
fprintf(stderr, "Failed to load pnm image.\n");
exit(1);
}
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
apriltag_ros | |
apriltag_detector_umich |
Launch files
Messages
Services
Plugins
Recent questions tagged apriltag at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 3.4.3 |
License | BSD |
Build type | CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/AprilRobotics/apriltag.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-11 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Max Krogius
- Wolfgang Merkt
- Christian Rauch
Authors
- Edwin Olson
- Max Krogius
AprilTag 3
AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies.
You can find tag images for the pre-generated layouts here. We recommend using the tagStandard41h12 layout.
Table of Contents
Papers
AprilTag is the subject of the following papers.
AprilTag: A robust and flexible visual fiducial system
AprilTag 2: Efficient and robust fiducial detection
Flexible Layouts for Fiducial Tags
Install
Officially only Linux operating systems are supported, although users have had success installing on Windows too.
The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
This will build shared (*.so) libraries by default. If you need static (*.a) libraries set BUILD_SHARED_LIBS
to OFF
:
cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF
cmake --build build --target install
If you have Ninja (sudo apt install ninja-build
) installed, you can use:
cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
to generate and compile via the ninja build script. It will be much faster than with cmake’s default Makefile generator.
You can omit --target install
if you only want to use this locally without installing.
Usage
Choosing a Tag Family
For the vast majority of applications, the tagStandard41h12 family will be the correct choice. You can find the images for the tags in the apriltag-imgs repo. Scale up the images in your favorite editor and print them out.
Some heuristics for when to choose other tag families:
- If you need more tags, use tagStandard52h13
- If you need to maximize the use of space on a small circular object, use tagCircle49h12 (or tagCircle21h7).
- If you want to make a recursive tag use tagCustom48h12.
- If you want compatibility with the ArUcO detector use tag36h11
If none of these fit your needs, generate your own custom tag family here.
Getting Started with the Detector
Python
import cv2
import numpy as np
from apriltag import apriltag
imagepath = 'test.jpg'
image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
detector = apriltag("tagStandard41h12")
detections = detector.detect(image)
Alternately you can use the AprilTag python bindings created by duckietown.
C
image_u8_t* im = image_u8_create_from_pnm("test.pnm");
if (im == NULL) {
fprintf(stderr, "Failed to load pnm image.\n");
exit(1);
}
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
apriltag_ros | |
apriltag_detector_umich |
Launch files
Messages
Services
Plugins
Recent questions tagged apriltag at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 3.4.3 |
License | BSD |
Build type | CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/AprilRobotics/apriltag.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-11 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Max Krogius
- Wolfgang Merkt
- Christian Rauch
Authors
- Edwin Olson
- Max Krogius
AprilTag 3
AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies.
You can find tag images for the pre-generated layouts here. We recommend using the tagStandard41h12 layout.
Table of Contents
Papers
AprilTag is the subject of the following papers.
AprilTag: A robust and flexible visual fiducial system
AprilTag 2: Efficient and robust fiducial detection
Flexible Layouts for Fiducial Tags
Install
Officially only Linux operating systems are supported, although users have had success installing on Windows too.
The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
This will build shared (*.so) libraries by default. If you need static (*.a) libraries set BUILD_SHARED_LIBS
to OFF
:
cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF
cmake --build build --target install
If you have Ninja (sudo apt install ninja-build
) installed, you can use:
cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
to generate and compile via the ninja build script. It will be much faster than with cmake’s default Makefile generator.
You can omit --target install
if you only want to use this locally without installing.
Usage
Choosing a Tag Family
For the vast majority of applications, the tagStandard41h12 family will be the correct choice. You can find the images for the tags in the apriltag-imgs repo. Scale up the images in your favorite editor and print them out.
Some heuristics for when to choose other tag families:
- If you need more tags, use tagStandard52h13
- If you need to maximize the use of space on a small circular object, use tagCircle49h12 (or tagCircle21h7).
- If you want to make a recursive tag use tagCustom48h12.
- If you want compatibility with the ArUcO detector use tag36h11
If none of these fit your needs, generate your own custom tag family here.
Getting Started with the Detector
Python
import cv2
import numpy as np
from apriltag import apriltag
imagepath = 'test.jpg'
image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
detector = apriltag("tagStandard41h12")
detections = detector.detect(image)
Alternately you can use the AprilTag python bindings created by duckietown.
C
image_u8_t* im = image_u8_create_from_pnm("test.pnm");
if (im == NULL) {
fprintf(stderr, "Failed to load pnm image.\n");
exit(1);
}
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
apriltag_ros | |
apriltag_detector_umich |
Launch files
Messages
Services
Plugins
Recent questions tagged apriltag at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 3.4.3 |
License | BSD |
Build type | CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/AprilRobotics/apriltag.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-11 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Max Krogius
- Wolfgang Merkt
- Christian Rauch
Authors
- Edwin Olson
- Max Krogius
AprilTag 3
AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies.
You can find tag images for the pre-generated layouts here. We recommend using the tagStandard41h12 layout.
Table of Contents
Papers
AprilTag is the subject of the following papers.
AprilTag: A robust and flexible visual fiducial system
AprilTag 2: Efficient and robust fiducial detection
Flexible Layouts for Fiducial Tags
Install
Officially only Linux operating systems are supported, although users have had success installing on Windows too.
The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
This will build shared (*.so) libraries by default. If you need static (*.a) libraries set BUILD_SHARED_LIBS
to OFF
:
cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF
cmake --build build --target install
If you have Ninja (sudo apt install ninja-build
) installed, you can use:
cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
to generate and compile via the ninja build script. It will be much faster than with cmake’s default Makefile generator.
You can omit --target install
if you only want to use this locally without installing.
Usage
Choosing a Tag Family
For the vast majority of applications, the tagStandard41h12 family will be the correct choice. You can find the images for the tags in the apriltag-imgs repo. Scale up the images in your favorite editor and print them out.
Some heuristics for when to choose other tag families:
- If you need more tags, use tagStandard52h13
- If you need to maximize the use of space on a small circular object, use tagCircle49h12 (or tagCircle21h7).
- If you want to make a recursive tag use tagCustom48h12.
- If you want compatibility with the ArUcO detector use tag36h11
If none of these fit your needs, generate your own custom tag family here.
Getting Started with the Detector
Python
import cv2
import numpy as np
from apriltag import apriltag
imagepath = 'test.jpg'
image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
detector = apriltag("tagStandard41h12")
detections = detector.detect(image)
Alternately you can use the AprilTag python bindings created by duckietown.
C
image_u8_t* im = image_u8_create_from_pnm("test.pnm");
if (im == NULL) {
fprintf(stderr, "Failed to load pnm image.\n");
exit(1);
}
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
apriltag_ros | |
apriltag_detector_umich |
Launch files
Messages
Services
Plugins
Recent questions tagged apriltag at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.10.0 |
License | BSD |
Build type | CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/christianrauch/apriltag2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2019-02-24 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Christian Rauch
Authors
- Edwin Olson
AprilTag 3
AprilTags are a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTags, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation.
You can find tag images for the pre-generated layouts here.
Support
Please create an issue on this github for any questions instead of sending a private message. This allows other people with the same question to find your answer.
Flexible Layouts
AprilTag 3 supports a wide variety of possible tag layouts in addition to the classic layout supported in AprilTag 2. The tag’s data bits can now go outside of the tag border, and it is also possible to define layouts with “holes” inside of the tag border where there are no data bits. In this repo we have included:
- Two families of the new standard layout. This layout adds a layer of data bits around the outside of the tag border, increasing data density, and the number of possible tags, at the cost of a slight decrease in detection distance.
- Two families of circular tags.
- One family which has a hole in the middle. This could be used for example for drone applications by placing different sized tags inside of each other to allow detection over a wide range of distances.
You can generate your own tag families using our other repo, AprilTag-Generation.
Pose Estimation
We have added methods to estimate the 3d pose of the AprilTag given camera parameters and the size of the tag. Sample code is as follows:
// First create an apriltag_detection_info_t struct using your known parameters.
apriltag_detection_info_t info;
info.det = det;
info.tagsize = tagsize;
info.fx = fx;
info.fy = fy;
info.cx = cx;
info.cy = cy;
// Then call estimate_tag_pose.
apriltag_pose_t pose;
double err = estimate_tag_pose(&info, &pose);
// Do something with pose.
...
You can also call estimate_tag_pose_orthogonal_iteration
which allows the user to specify the number of iterations used and also returns both possible solutions for the tag pose along with their errors.
Upgrading from AprilTag 3
For most use-cases this should be a drop in replacement.
- The options refine_decode, refine_pose, and black_border have been removed.
- If you have generated your own families, you will need to regenerate the c code for those families. The java code however does not need to be regenerated so this should be quick and easy.
Install
The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig. Be aware that there are some larger tag families which may take a long time to build. If you do not want to use these tag families then you can speed up the installation by deleting the files tagCircle49h12.c, tagCircle49h12.h, tagCustom48h12.c, tagCustom48h12.h, tagStandard52h13.c, and tagStandard52h13.h before installing.
$ make
$ sudo make install
To install to a different directory than /usr/local:
$ PREFIX=/some/path sudo make install
Usage
A basic AprilTag application can be seen in example/apriltag_demo.c.
Initialization: instantiate a detector and at least one tag family.
apriltag_detector_t *td = apriltag_detector_create();
apriltag_family_t *tf = tag36h11_create();
apriltag_detector_add_family(td, tf);
Some tag detector parameters can be set at this time. The default parameters are the recommended starting point.
td->quad_decimate = 2.0;
td->quad_sigma = 0.0;
td->refine_edges = 1;
td->decode_sharpening = 0.25;
Increase the image decimation if faster processing is required; the trade-off is a slight decrease in detection range. A factor of 1.0 means the full-size input image is used.
Some Gaussian blur (quad_sigma) may help with noisy input images.
Detection: a single one-line call will process an input image and return a list of detections.
zarray_t *detections = apriltag_detector_detect(td, im);
File truncated at 100 lines see the full file
Wiki Tutorials
Dependant Packages
Name | Deps |
---|---|
apriltag_ros |
Launch files
Messages
Services
Plugins
Recent questions tagged apriltag at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 3.4.3 |
License | BSD |
Build type | CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/AprilRobotics/apriltag.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-11 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Max Krogius
- Wolfgang Merkt
- Christian Rauch
Authors
- Edwin Olson
- Max Krogius
AprilTag 3
AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies.
You can find tag images for the pre-generated layouts here. We recommend using the tagStandard41h12 layout.
Table of Contents
Papers
AprilTag is the subject of the following papers.
AprilTag: A robust and flexible visual fiducial system
AprilTag 2: Efficient and robust fiducial detection
Flexible Layouts for Fiducial Tags
Install
Officially only Linux operating systems are supported, although users have had success installing on Windows too.
The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
This will build shared (*.so) libraries by default. If you need static (*.a) libraries set BUILD_SHARED_LIBS
to OFF
:
cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF
cmake --build build --target install
If you have Ninja (sudo apt install ninja-build
) installed, you can use:
cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
to generate and compile via the ninja build script. It will be much faster than with cmake’s default Makefile generator.
You can omit --target install
if you only want to use this locally without installing.
Usage
Choosing a Tag Family
For the vast majority of applications, the tagStandard41h12 family will be the correct choice. You can find the images for the tags in the apriltag-imgs repo. Scale up the images in your favorite editor and print them out.
Some heuristics for when to choose other tag families:
- If you need more tags, use tagStandard52h13
- If you need to maximize the use of space on a small circular object, use tagCircle49h12 (or tagCircle21h7).
- If you want to make a recursive tag use tagCustom48h12.
- If you want compatibility with the ArUcO detector use tag36h11
If none of these fit your needs, generate your own custom tag family here.
Getting Started with the Detector
Python
import cv2
import numpy as np
from apriltag import apriltag
imagepath = 'test.jpg'
image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
detector = apriltag("tagStandard41h12")
detections = detector.detect(image)
Alternately you can use the AprilTag python bindings created by duckietown.
C
image_u8_t* im = image_u8_create_from_pnm("test.pnm");
if (im == NULL) {
fprintf(stderr, "Failed to load pnm image.\n");
exit(1);
}
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
apriltag_ros | |
apriltag_detector_umich |
Launch files
Messages
Services
Plugins
Recent questions tagged apriltag at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 3.4.3 |
License | BSD |
Build type | CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/AprilRobotics/apriltag.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-11 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Max Krogius
- Wolfgang Merkt
- Christian Rauch
Authors
- Edwin Olson
- Max Krogius
AprilTag 3
AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies.
You can find tag images for the pre-generated layouts here. We recommend using the tagStandard41h12 layout.
Table of Contents
Papers
AprilTag is the subject of the following papers.
AprilTag: A robust and flexible visual fiducial system
AprilTag 2: Efficient and robust fiducial detection
Flexible Layouts for Fiducial Tags
Install
Officially only Linux operating systems are supported, although users have had success installing on Windows too.
The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
This will build shared (*.so) libraries by default. If you need static (*.a) libraries set BUILD_SHARED_LIBS
to OFF
:
cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF
cmake --build build --target install
If you have Ninja (sudo apt install ninja-build
) installed, you can use:
cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
to generate and compile via the ninja build script. It will be much faster than with cmake’s default Makefile generator.
You can omit --target install
if you only want to use this locally without installing.
Usage
Choosing a Tag Family
For the vast majority of applications, the tagStandard41h12 family will be the correct choice. You can find the images for the tags in the apriltag-imgs repo. Scale up the images in your favorite editor and print them out.
Some heuristics for when to choose other tag families:
- If you need more tags, use tagStandard52h13
- If you need to maximize the use of space on a small circular object, use tagCircle49h12 (or tagCircle21h7).
- If you want to make a recursive tag use tagCustom48h12.
- If you want compatibility with the ArUcO detector use tag36h11
If none of these fit your needs, generate your own custom tag family here.
Getting Started with the Detector
Python
import cv2
import numpy as np
from apriltag import apriltag
imagepath = 'test.jpg'
image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
detector = apriltag("tagStandard41h12")
detections = detector.detect(image)
Alternately you can use the AprilTag python bindings created by duckietown.
C
image_u8_t* im = image_u8_create_from_pnm("test.pnm");
if (im == NULL) {
fprintf(stderr, "Failed to load pnm image.\n");
exit(1);
}
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
apriltag_ros |
Launch files
Messages
Services
Plugins
Recent questions tagged apriltag at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 3.4.3 |
License | BSD |
Build type | CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/AprilRobotics/apriltag.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-11 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Max Krogius
- Wolfgang Merkt
- Christian Rauch
Authors
- Edwin Olson
- Max Krogius
AprilTag 3
AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies.
You can find tag images for the pre-generated layouts here. We recommend using the tagStandard41h12 layout.
Table of Contents
Papers
AprilTag is the subject of the following papers.
AprilTag: A robust and flexible visual fiducial system
AprilTag 2: Efficient and robust fiducial detection
Flexible Layouts for Fiducial Tags
Install
Officially only Linux operating systems are supported, although users have had success installing on Windows too.
The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
This will build shared (*.so) libraries by default. If you need static (*.a) libraries set BUILD_SHARED_LIBS
to OFF
:
cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF
cmake --build build --target install
If you have Ninja (sudo apt install ninja-build
) installed, you can use:
cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
to generate and compile via the ninja build script. It will be much faster than with cmake’s default Makefile generator.
You can omit --target install
if you only want to use this locally without installing.
Usage
Choosing a Tag Family
For the vast majority of applications, the tagStandard41h12 family will be the correct choice. You can find the images for the tags in the apriltag-imgs repo. Scale up the images in your favorite editor and print them out.
Some heuristics for when to choose other tag families:
- If you need more tags, use tagStandard52h13
- If you need to maximize the use of space on a small circular object, use tagCircle49h12 (or tagCircle21h7).
- If you want to make a recursive tag use tagCustom48h12.
- If you want compatibility with the ArUcO detector use tag36h11
If none of these fit your needs, generate your own custom tag family here.
Getting Started with the Detector
Python
import cv2
import numpy as np
from apriltag import apriltag
imagepath = 'test.jpg'
image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
detector = apriltag("tagStandard41h12")
detections = detector.detect(image)
Alternately you can use the AprilTag python bindings created by duckietown.
C
image_u8_t* im = image_u8_create_from_pnm("test.pnm");
if (im == NULL) {
fprintf(stderr, "Failed to load pnm image.\n");
exit(1);
}
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged apriltag at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 3.4.3 |
License | BSD |
Build type | CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/AprilRobotics/apriltag.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-11 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Max Krogius
- Wolfgang Merkt
- Christian Rauch
Authors
- Edwin Olson
- Max Krogius
AprilTag 3
AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies.
You can find tag images for the pre-generated layouts here. We recommend using the tagStandard41h12 layout.
Table of Contents
Papers
AprilTag is the subject of the following papers.
AprilTag: A robust and flexible visual fiducial system
AprilTag 2: Efficient and robust fiducial detection
Flexible Layouts for Fiducial Tags
Install
Officially only Linux operating systems are supported, although users have had success installing on Windows too.
The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
This will build shared (*.so) libraries by default. If you need static (*.a) libraries set BUILD_SHARED_LIBS
to OFF
:
cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF
cmake --build build --target install
If you have Ninja (sudo apt install ninja-build
) installed, you can use:
cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
to generate and compile via the ninja build script. It will be much faster than with cmake’s default Makefile generator.
You can omit --target install
if you only want to use this locally without installing.
Usage
Choosing a Tag Family
For the vast majority of applications, the tagStandard41h12 family will be the correct choice. You can find the images for the tags in the apriltag-imgs repo. Scale up the images in your favorite editor and print them out.
Some heuristics for when to choose other tag families:
- If you need more tags, use tagStandard52h13
- If you need to maximize the use of space on a small circular object, use tagCircle49h12 (or tagCircle21h7).
- If you want to make a recursive tag use tagCustom48h12.
- If you want compatibility with the ArUcO detector use tag36h11
If none of these fit your needs, generate your own custom tag family here.
Getting Started with the Detector
Python
import cv2
import numpy as np
from apriltag import apriltag
imagepath = 'test.jpg'
image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
detector = apriltag("tagStandard41h12")
detections = detector.detect(image)
Alternately you can use the AprilTag python bindings created by duckietown.
C
image_u8_t* im = image_u8_create_from_pnm("test.pnm");
if (im == NULL) {
fprintf(stderr, "Failed to load pnm image.\n");
exit(1);
}
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged apriltag at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 3.4.3 |
License | BSD |
Build type | CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/AprilRobotics/apriltag.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-11 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Max Krogius
- Wolfgang Merkt
- Christian Rauch
Authors
- Edwin Olson
- Max Krogius
AprilTag 3
AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies.
You can find tag images for the pre-generated layouts here. We recommend using the tagStandard41h12 layout.
Table of Contents
Papers
AprilTag is the subject of the following papers.
AprilTag: A robust and flexible visual fiducial system
AprilTag 2: Efficient and robust fiducial detection
Flexible Layouts for Fiducial Tags
Install
Officially only Linux operating systems are supported, although users have had success installing on Windows too.
The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
This will build shared (*.so) libraries by default. If you need static (*.a) libraries set BUILD_SHARED_LIBS
to OFF
:
cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF
cmake --build build --target install
If you have Ninja (sudo apt install ninja-build
) installed, you can use:
cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
to generate and compile via the ninja build script. It will be much faster than with cmake’s default Makefile generator.
You can omit --target install
if you only want to use this locally without installing.
Usage
Choosing a Tag Family
For the vast majority of applications, the tagStandard41h12 family will be the correct choice. You can find the images for the tags in the apriltag-imgs repo. Scale up the images in your favorite editor and print them out.
Some heuristics for when to choose other tag families:
- If you need more tags, use tagStandard52h13
- If you need to maximize the use of space on a small circular object, use tagCircle49h12 (or tagCircle21h7).
- If you want to make a recursive tag use tagCustom48h12.
- If you want compatibility with the ArUcO detector use tag36h11
If none of these fit your needs, generate your own custom tag family here.
Getting Started with the Detector
Python
import cv2
import numpy as np
from apriltag import apriltag
imagepath = 'test.jpg'
image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
detector = apriltag("tagStandard41h12")
detections = detector.detect(image)
Alternately you can use the AprilTag python bindings created by duckietown.
C
image_u8_t* im = image_u8_create_from_pnm("test.pnm");
if (im == NULL) {
fprintf(stderr, "Failed to load pnm image.\n");
exit(1);
}
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
apriltag_ros | |
apriltag_detector_umich |
Launch files
Messages
Services
Plugins
Recent questions tagged apriltag at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 3.4.3 |
License | BSD |
Build type | CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/AprilRobotics/apriltag.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-11 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Max Krogius
- Wolfgang Merkt
- Christian Rauch
Authors
- Edwin Olson
- Max Krogius
AprilTag 3
AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies.
You can find tag images for the pre-generated layouts here. We recommend using the tagStandard41h12 layout.
Table of Contents
Papers
AprilTag is the subject of the following papers.
AprilTag: A robust and flexible visual fiducial system
AprilTag 2: Efficient and robust fiducial detection
Flexible Layouts for Fiducial Tags
Install
Officially only Linux operating systems are supported, although users have had success installing on Windows too.
The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
This will build shared (*.so) libraries by default. If you need static (*.a) libraries set BUILD_SHARED_LIBS
to OFF
:
cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF
cmake --build build --target install
If you have Ninja (sudo apt install ninja-build
) installed, you can use:
cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
to generate and compile via the ninja build script. It will be much faster than with cmake’s default Makefile generator.
You can omit --target install
if you only want to use this locally without installing.
Usage
Choosing a Tag Family
For the vast majority of applications, the tagStandard41h12 family will be the correct choice. You can find the images for the tags in the apriltag-imgs repo. Scale up the images in your favorite editor and print them out.
Some heuristics for when to choose other tag families:
- If you need more tags, use tagStandard52h13
- If you need to maximize the use of space on a small circular object, use tagCircle49h12 (or tagCircle21h7).
- If you want to make a recursive tag use tagCustom48h12.
- If you want compatibility with the ArUcO detector use tag36h11
If none of these fit your needs, generate your own custom tag family here.
Getting Started with the Detector
Python
import cv2
import numpy as np
from apriltag import apriltag
imagepath = 'test.jpg'
image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
detector = apriltag("tagStandard41h12")
detections = detector.detect(image)
Alternately you can use the AprilTag python bindings created by duckietown.
C
image_u8_t* im = image_u8_create_from_pnm("test.pnm");
if (im == NULL) {
fprintf(stderr, "Failed to load pnm image.\n");
exit(1);
}
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
apriltag_ros | |
apriltag_detector_umich |
Launch files
Messages
Services
Plugins
Recent questions tagged apriltag at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 3.4.3 |
License | BSD |
Build type | CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/AprilRobotics/apriltag.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-11 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Max Krogius
- Wolfgang Merkt
- Christian Rauch
Authors
- Edwin Olson
- Max Krogius
AprilTag 3
AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies.
You can find tag images for the pre-generated layouts here. We recommend using the tagStandard41h12 layout.
Table of Contents
Papers
AprilTag is the subject of the following papers.
AprilTag: A robust and flexible visual fiducial system
AprilTag 2: Efficient and robust fiducial detection
Flexible Layouts for Fiducial Tags
Install
Officially only Linux operating systems are supported, although users have had success installing on Windows too.
The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
This will build shared (*.so) libraries by default. If you need static (*.a) libraries set BUILD_SHARED_LIBS
to OFF
:
cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF
cmake --build build --target install
If you have Ninja (sudo apt install ninja-build
) installed, you can use:
cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
to generate and compile via the ninja build script. It will be much faster than with cmake’s default Makefile generator.
You can omit --target install
if you only want to use this locally without installing.
Usage
Choosing a Tag Family
For the vast majority of applications, the tagStandard41h12 family will be the correct choice. You can find the images for the tags in the apriltag-imgs repo. Scale up the images in your favorite editor and print them out.
Some heuristics for when to choose other tag families:
- If you need more tags, use tagStandard52h13
- If you need to maximize the use of space on a small circular object, use tagCircle49h12 (or tagCircle21h7).
- If you want to make a recursive tag use tagCustom48h12.
- If you want compatibility with the ArUcO detector use tag36h11
If none of these fit your needs, generate your own custom tag family here.
Getting Started with the Detector
Python
import cv2
import numpy as np
from apriltag import apriltag
imagepath = 'test.jpg'
image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
detector = apriltag("tagStandard41h12")
detections = detector.detect(image)
Alternately you can use the AprilTag python bindings created by duckietown.
C
image_u8_t* im = image_u8_create_from_pnm("test.pnm");
if (im == NULL) {
fprintf(stderr, "Failed to load pnm image.\n");
exit(1);
}
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
apriltag_ros | |
apriltag_detector_umich |
Launch files
Messages
Services
Plugins
Recent questions tagged apriltag at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 3.4.3 |
License | BSD |
Build type | CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/AprilRobotics/apriltag.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-11 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Max Krogius
- Wolfgang Merkt
- Christian Rauch
Authors
- Edwin Olson
- Max Krogius
AprilTag 3
AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies.
You can find tag images for the pre-generated layouts here. We recommend using the tagStandard41h12 layout.
Table of Contents
Papers
AprilTag is the subject of the following papers.
AprilTag: A robust and flexible visual fiducial system
AprilTag 2: Efficient and robust fiducial detection
Flexible Layouts for Fiducial Tags
Install
Officially only Linux operating systems are supported, although users have had success installing on Windows too.
The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
This will build shared (*.so) libraries by default. If you need static (*.a) libraries set BUILD_SHARED_LIBS
to OFF
:
cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF
cmake --build build --target install
If you have Ninja (sudo apt install ninja-build
) installed, you can use:
cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
to generate and compile via the ninja build script. It will be much faster than with cmake’s default Makefile generator.
You can omit --target install
if you only want to use this locally without installing.
Usage
Choosing a Tag Family
For the vast majority of applications, the tagStandard41h12 family will be the correct choice. You can find the images for the tags in the apriltag-imgs repo. Scale up the images in your favorite editor and print them out.
Some heuristics for when to choose other tag families:
- If you need more tags, use tagStandard52h13
- If you need to maximize the use of space on a small circular object, use tagCircle49h12 (or tagCircle21h7).
- If you want to make a recursive tag use tagCustom48h12.
- If you want compatibility with the ArUcO detector use tag36h11
If none of these fit your needs, generate your own custom tag family here.
Getting Started with the Detector
Python
import cv2
import numpy as np
from apriltag import apriltag
imagepath = 'test.jpg'
image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
detector = apriltag("tagStandard41h12")
detections = detector.detect(image)
Alternately you can use the AprilTag python bindings created by duckietown.
C
image_u8_t* im = image_u8_create_from_pnm("test.pnm");
if (im == NULL) {
fprintf(stderr, "Failed to load pnm image.\n");
exit(1);
}
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
apriltag_ros | |
apriltag_detector_umich |
Launch files
Messages
Services
Plugins
Recent questions tagged apriltag at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 3.4.3 |
License | BSD |
Build type | CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/AprilRobotics/apriltag.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-11 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Max Krogius
- Wolfgang Merkt
- Christian Rauch
Authors
- Edwin Olson
- Max Krogius
AprilTag 3
AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies.
You can find tag images for the pre-generated layouts here. We recommend using the tagStandard41h12 layout.
Table of Contents
Papers
AprilTag is the subject of the following papers.
AprilTag: A robust and flexible visual fiducial system
AprilTag 2: Efficient and robust fiducial detection
Flexible Layouts for Fiducial Tags
Install
Officially only Linux operating systems are supported, although users have had success installing on Windows too.
The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
This will build shared (*.so) libraries by default. If you need static (*.a) libraries set BUILD_SHARED_LIBS
to OFF
:
cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF
cmake --build build --target install
If you have Ninja (sudo apt install ninja-build
) installed, you can use:
cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
to generate and compile via the ninja build script. It will be much faster than with cmake’s default Makefile generator.
You can omit --target install
if you only want to use this locally without installing.
Usage
Choosing a Tag Family
For the vast majority of applications, the tagStandard41h12 family will be the correct choice. You can find the images for the tags in the apriltag-imgs repo. Scale up the images in your favorite editor and print them out.
Some heuristics for when to choose other tag families:
- If you need more tags, use tagStandard52h13
- If you need to maximize the use of space on a small circular object, use tagCircle49h12 (or tagCircle21h7).
- If you want to make a recursive tag use tagCustom48h12.
- If you want compatibility with the ArUcO detector use tag36h11
If none of these fit your needs, generate your own custom tag family here.
Getting Started with the Detector
Python
import cv2
import numpy as np
from apriltag import apriltag
imagepath = 'test.jpg'
image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
detector = apriltag("tagStandard41h12")
detections = detector.detect(image)
Alternately you can use the AprilTag python bindings created by duckietown.
C
image_u8_t* im = image_u8_create_from_pnm("test.pnm");
if (im == NULL) {
fprintf(stderr, "Failed to load pnm image.\n");
exit(1);
}
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
apriltag_ros | |
apriltag_detector_umich |
Launch files
Messages
Services
Plugins
Recent questions tagged apriltag at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 3.4.3 |
License | BSD |
Build type | CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/AprilRobotics/apriltag.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-11 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Max Krogius
- Wolfgang Merkt
- Christian Rauch
Authors
- Edwin Olson
- Max Krogius
AprilTag 3
AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies.
You can find tag images for the pre-generated layouts here. We recommend using the tagStandard41h12 layout.
Table of Contents
Papers
AprilTag is the subject of the following papers.
AprilTag: A robust and flexible visual fiducial system
AprilTag 2: Efficient and robust fiducial detection
Flexible Layouts for Fiducial Tags
Install
Officially only Linux operating systems are supported, although users have had success installing on Windows too.
The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
This will build shared (*.so) libraries by default. If you need static (*.a) libraries set BUILD_SHARED_LIBS
to OFF
:
cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF
cmake --build build --target install
If you have Ninja (sudo apt install ninja-build
) installed, you can use:
cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
to generate and compile via the ninja build script. It will be much faster than with cmake’s default Makefile generator.
You can omit --target install
if you only want to use this locally without installing.
Usage
Choosing a Tag Family
For the vast majority of applications, the tagStandard41h12 family will be the correct choice. You can find the images for the tags in the apriltag-imgs repo. Scale up the images in your favorite editor and print them out.
Some heuristics for when to choose other tag families:
- If you need more tags, use tagStandard52h13
- If you need to maximize the use of space on a small circular object, use tagCircle49h12 (or tagCircle21h7).
- If you want to make a recursive tag use tagCustom48h12.
- If you want compatibility with the ArUcO detector use tag36h11
If none of these fit your needs, generate your own custom tag family here.
Getting Started with the Detector
Python
import cv2
import numpy as np
from apriltag import apriltag
imagepath = 'test.jpg'
image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
detector = apriltag("tagStandard41h12")
detections = detector.detect(image)
Alternately you can use the AprilTag python bindings created by duckietown.
C
image_u8_t* im = image_u8_create_from_pnm("test.pnm");
if (im == NULL) {
fprintf(stderr, "Failed to load pnm image.\n");
exit(1);
}
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
apriltag_ros | |
apriltag_detector_umich |
Launch files
Messages
Services
Plugins
Recent questions tagged apriltag at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 3.4.3 |
License | BSD |
Build type | CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/aprilrobotics/apriltag.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-11 |
Dev Status | MAINTAINED |
CI status | Continuous Integration : 0 / 0 |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Max Krogius
- Wolfgang Merkt
- Christian Rauch
Authors
- Edwin Olson
- Max Krogius
AprilTag 3
AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies.
You can find tag images for the pre-generated layouts here. We recommend using the tagStandard41h12 layout.
Table of Contents
Papers
AprilTag is the subject of the following papers.
AprilTag: A robust and flexible visual fiducial system
AprilTag 2: Efficient and robust fiducial detection
Flexible Layouts for Fiducial Tags
Install
Officially only Linux operating systems are supported, although users have had success installing on Windows too.
The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
This will build shared (*.so) libraries by default. If you need static (*.a) libraries set BUILD_SHARED_LIBS
to OFF
:
cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF
cmake --build build --target install
If you have Ninja (sudo apt install ninja-build
) installed, you can use:
cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
to generate and compile via the ninja build script. It will be much faster than with cmake’s default Makefile generator.
You can omit --target install
if you only want to use this locally without installing.
Usage
Choosing a Tag Family
For the vast majority of applications, the tagStandard41h12 family will be the correct choice. You can find the images for the tags in the apriltag-imgs repo. Scale up the images in your favorite editor and print them out.
Some heuristics for when to choose other tag families:
- If you need more tags, use tagStandard52h13
- If you need to maximize the use of space on a small circular object, use tagCircle49h12 (or tagCircle21h7).
- If you want to make a recursive tag use tagCustom48h12.
- If you want compatibility with the ArUcO detector use tag36h11
If none of these fit your needs, generate your own custom tag family here.
Getting Started with the Detector
Python
import cv2
import numpy as np
from apriltag import apriltag
imagepath = 'test.jpg'
image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
detector = apriltag("tagStandard41h12")
detections = detector.detect(image)
Alternately you can use the AprilTag python bindings created by duckietown.
C
image_u8_t* im = image_u8_create_from_pnm("test.pnm");
if (im == NULL) {
fprintf(stderr, "Failed to load pnm image.\n");
exit(1);
}
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
apriltag_ros |
Launch files
Messages
Services
Plugins
Recent questions tagged apriltag at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 3.4.3 |
License | BSD |
Build type | CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/aprilrobotics/apriltag.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-06-11 |
Dev Status | MAINTAINED |
CI status | Continuous Integration : 0 / 0 |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Max Krogius
- Wolfgang Merkt
- Christian Rauch
Authors
- Edwin Olson
- Max Krogius
AprilTag 3
AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies.
You can find tag images for the pre-generated layouts here. We recommend using the tagStandard41h12 layout.
Table of Contents
Papers
AprilTag is the subject of the following papers.
AprilTag: A robust and flexible visual fiducial system
AprilTag 2: Efficient and robust fiducial detection
Flexible Layouts for Fiducial Tags
Install
Officially only Linux operating systems are supported, although users have had success installing on Windows too.
The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
This will build shared (*.so) libraries by default. If you need static (*.a) libraries set BUILD_SHARED_LIBS
to OFF
:
cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF
cmake --build build --target install
If you have Ninja (sudo apt install ninja-build
) installed, you can use:
cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
to generate and compile via the ninja build script. It will be much faster than with cmake’s default Makefile generator.
You can omit --target install
if you only want to use this locally without installing.
Usage
Choosing a Tag Family
For the vast majority of applications, the tagStandard41h12 family will be the correct choice. You can find the images for the tags in the apriltag-imgs repo. Scale up the images in your favorite editor and print them out.
Some heuristics for when to choose other tag families:
- If you need more tags, use tagStandard52h13
- If you need to maximize the use of space on a small circular object, use tagCircle49h12 (or tagCircle21h7).
- If you want to make a recursive tag use tagCustom48h12.
- If you want compatibility with the ArUcO detector use tag36h11
If none of these fit your needs, generate your own custom tag family here.
Getting Started with the Detector
Python
import cv2
import numpy as np
from apriltag import apriltag
imagepath = 'test.jpg'
image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
detector = apriltag("tagStandard41h12")
detections = detector.detect(image)
Alternately you can use the AprilTag python bindings created by duckietown.
C
image_u8_t* im = image_u8_create_from_pnm("test.pnm");
if (im == NULL) {
fprintf(stderr, "Failed to load pnm image.\n");
exit(1);
}
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
apriltag_ros |