Tracking a simple, marked object with OpenCV / Python - part II

Continuing my previous post, I show you how you can track your object marked with a QR code.
The biggest advantages of using QR codes is that there are lots of free libraries for it.
I will use ArUco which is a nice library for augmented reality applications. It can detect QR-code lisquared markers and calculate their positions and orientations.

I wont give you introduction into ArUco, you can learn the necessary information from this blogpost, for example. I also used the codes from there and I printed some tags, but if you don't want to print them, you can use the display of your mobile phone.

Here is the used marker with a white boundary:

And in this image, you can see the detected marker:

This looks nice, the library found the rotated, perspective code, it marked it, and it's really fast. Sadly, it has a problem if you use a common USB camera with slow shutter, and it's the motion blur.

You can see the problem on this image, where I moved the paper:


So for conclusion, you can use aruco if you would like to track an object with low speed or with good camera, but in my application, aruco alone is not a good solution.p