Assessment of Multiple Fiducial Marker Trackers on Hololens 2

Fiducial markers play a fundamental role in various fields in which precise localization and tracking are paramount. In Augmented Reality, they provide a known reference point in the physical world so that AR systems can accurately identify, track, and overlay virtual objects. This accuracy is essential for creating a seamless and immersive AR experience, particularly when prompted to cope with the sub-millimeter requirements of medical and industrial applications. This research article presents a comparative analysis of four fiducial marker tracking algorithms, aiming to assess and benchmark their accuracy and precision. The proposed methodology compares the pose estimated by four algorithms running on Hololens 2 with those provided by a highly accurate ground truth system. Each fiducial marker was positioned in 25 sampling points with different distances and orientations. The proposed evaluation method is not influenced by human error, relying only on a high-frequency and accurate motion tracking system as ground truth. This research shows that it is possible to track the fiducial markers with translation and rotation errors as low as 1.36 mm and 0.015 degrees using ArUco and Vuforia, respectively.