A method of information transmission using visual markers has been widely studied. In this approach, information or identifiers (IDs) are encoded in the black-and-white pattern of each marker. By analyzing the geometric properties of the marker frame - such as its size, distortion, and coordinates - the relative position and orientation between the camera and the marker can be estimated. Furthermore, by associating the positional information of each marker with its corresponding ID, the position of the camera that takes the image picture can be calculated. In the field of mobile robotics, such markers are commonly utilized for robot localization. As mobile robots become more widely used in everyday environments, such visual markers are expected to be utilized across various contexts. In environments where robots collaborate with humans - such as in cell-based manufacturing systems in factories or in domestic settings with partner robots - it is desirable for such markers to be designed in a manner that appears natural and unobtrusive to humans. In this paper, we propose a method for implementing an ArUco marker in the form of illumination. In the proposed method, LEDs are arranged in accordance with the grid pattern of the marker, and the blinking frequency of each LED is determined based on the corresponding black or white cell. As a result, the illumination appears uniformly bright to the human eye, while the camera can capture variations in the blinking frequency. From these differences, the black-and-white pattern can be reconstructed, enabling the identification of the marker's tag information. We develop a prototype system, and conduct experiments which are conducted to evaluate its performance in terms of recognition accuracy under varying distances and viewing angles with respect to the ArUco marker.

翻译：利用视觉标记进行信息传输的方法已得到广泛研究。在该方法中，信息或标识符（ID）被编码在每个标记的黑白图案中。通过分析标记边框的几何特性——例如其尺寸、畸变和坐标——可以估计相机与标记之间的相对位置和姿态。此外，通过将每个标记的位置信息与其对应的ID关联，可以计算出拍摄图像的相机位置。在移动机器人领域，此类标记通常被用于机器人定位。随着移动机器人在日常环境中的使用日益广泛，这类视觉标记有望在各种场景中得到应用。在机器人与人类协作的环境中——例如工厂中的单元化制造系统或配备伴侣机器人的家庭环境——此类标记的设计方式应使其对人类显得自然而隐蔽。本文提出一种以照明形式实现ArUco标记的方法。在该方法中，LED按照标记的网格图案排列，每个LED的闪烁频率根据对应的黑白单元格确定。因此，照明在人眼看来呈现均匀亮度，而相机能够捕捉闪烁频率的变化。通过这些差异，可以重建黑白图案，从而实现标记标签信息的识别。我们开发了原型系统，并通过实验评估了系统在不同距离和视角下对ArUco标记的识别精度性能。