In this paper we describe Ninja Codes, neurally generated fiducial markers that can be made to naturally blend into various real-world environments. An encoder network converts arbitrary images into Ninja Codes by applying visually modest alterations; the resulting codes, printed and pasted onto surfaces, can provide stealthy 6-DoF location tracking for a wide range of applications including robotics and augmented reality. Ninja Codes can be printed using standard color printers on regular printing paper, and can be detected using any device equipped with a modern RGB camera and capable of running inference. Through experiments, we demonstrate Ninja Codes' ability to provide reliable location tracking under common indoor lighting conditions, while successfully concealing themselves within diverse environmental textures. We expect Ninja Codes to offer particular value in scenarios where the conspicuous appearance of conventional fiducial markers makes them undesirable for aesthetic and other reasons.

翻译：本文描述了忍者码——一种可自然融入各类真实环境的神经生成基准标记。编码器网络通过施加视觉上细微的修改，将任意图像转化为忍者码；生成的标记经打印并粘贴至表面后，可为机器人、增强现实等广泛领域提供隐蔽的六自由度位置追踪。忍者码可通过标准彩色打印机在普通打印纸上输出，并可使用任意配备现代RGB摄像头且具备推理能力的设备进行检测。通过实验，我们验证了忍者码在常见室内光照条件下提供可靠位置追踪的能力，同时能成功隐藏于多样化的环境纹理中。我们预期，在传统基准标记因其醒目外观导致美学或其他方面不可取的场景中，忍者码将具有特殊价值。