This repository contains the implementation of multi-range, recursive fiducial marker AstraTag. The marker template is derived from square shaped Spidron. The marker is designed for in-orbit operations around cooperative targets. The objective of introducing recurisve feature is to make it suitable for conducting rendezvous and proximity operation. Its three layers provide robustness against a partial occlusion. Below are some of the sample markers.
To test the marker, a space-like environment was created using a pair of mock-up spacecraft. The mock-ups, inspired by the Aditya-L1 spacecraft and the Indian Space Station module BAS-01, were used as targets. The images below demonstrate a sample result. The setup was placed on a turntable to simulate out-of-plane rotation.
AstraTag markers can also be used in robotics application in terrestial and underwater environments.
- C++17 or later
- OpenCV 4.x (required by CMake)
- CMake 3.16 or later
- A standard build toolchain (gcc/clang, make)
Quick build (recommended)
- Clone the repository and create a build directory:
git clone https://github.com/ravikt/astratag.git
cd astratag
mkdir build && cd build
cmake ..
make -j$(nproc)# from project root
./build/astratag_detect
# or from build/
./astratag_detectSee LICENSE in the repository root for license terms.