ARTag
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ARTag is an augmented reality engine based on computer vision developed in about 2006.[1]
ARTag Rev1 is the system comprising the markers themselves and the computer vision to recognize them. This page talks about this, the detection of the ARTag markers themselves.[2]
ARTag Rev2 is an augmented reality system that uses computer vision acting on video input from a camera to calculate pose to perform the necessary alignment between real and virtual cameras. ARTag uses markers to accomplish this, the markers are detected in the image and the correspondences between the image and their known 3D location used to calculate this pose.[2]