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js-aruco is a port to JavaScript of the ArUco library.

ArUco is a minimal library for Augmented Reality applications based on OpenCv.


100% JavaScript (see details bellow):

3D Pose Estimation:

Visual Debugging:

Flash camera access (see details bellow):


Webcam video adquisition:


3D Pose estimation:


Visual Debugging:



A 7x7 grid with an external unused black border. Internal 5x5 cells contains id information.

Each row must follow any of the following patterns:

white - black - black - black - black

white - black - white - white - white

black - white - black - black - white

black - white - white - white - black




Create an AR.Detector object:

var detector = new AR.Detector();

Call detect function:

var markers = detector.detect(imageData);

markers result will be an array of AR.Marker objects with detected markers.

AR.Marker objects have two properties:

  • id: Marker id.
  • corners: 2D marker corners.

imageData argument must be a valid ImageData canvas object.

var canvas = document.getElementById("canvas");
var context = canvas.getContext("2d");

var imageData = context.getImageData(0, 0, width, height);

3D Pose Estimation

Create an POS.Posit object:

var posit = new POS.Posit(modelSize, canvas.width);

modelSize argument must be the real marker size (millimeters).

Call pose function:

var pose = posit.pose(corners);

corners must be centered on canvas:

var corners = marker.corners;

for (var i = 0; i < corners.length; ++ i){
  var corner = corners[i];

  corner.x = corner.x - (canvas.width / 2);
  corner.y = (canvas.height / 2) - corner.y;

pose result will be a POS.Pose object with two estimated pose (if any):

  • bestError: Error of the best estimated pose.
  • bestRotation: 3x3 rotation matrix of the best estimated pose.
  • bestTranslation: Translation vector of the best estimated pose.
  • alternativeError: Error of the alternative estimated pose.
  • alternativeRotation: 3x3 rotation matrix of the alternative estimated pose.
  • alternativeTranslation: Translation vector of the alternative estimated pose.

Note: POS namespace can be taken from posit1.js or posit2.js.

Flash Demo (deprecated)

It uses Flashcam, a minimal Flash library to capture video.