ArUco: a minimal library for Augmented Reality applications based on OpenCV

News:  Aruco Nano version 5 released (1/08/2023).  Download here!

ArUco Nano 5 Release

News: New Aruco Version of the library available. Tracking with Correlation Filters!

ArUco is an OpenSource library for camera pose estimation using squared markers. ArUco is written in C++ and is extremely fast.

Main Features

  • Detect markers with a single line of C++ code.
  • Detect varios dictionaries: ARUCO, AprilTag,ArToolKit+,ARTAG,CHILITAGS.
  • Faster than any other library for detection of markers
  • Few dependencies  OpenCV (>=2.4.9) and eigen3 (included in the library).
  • Trivial integration with OpenGL and OGRE.
  • Fast, reliable and cross-platform   (Windows, Linux, Mac OS, Android).


The library can be downloaded at SourceForge


There is a list of video tutorials on youtube and a manual.


If you use this library in your research, you must cite:

  1. “Generation of fiducial marker dictionaries using mixed integer linear programming”,S. Garrido-Jurado, R. Muñoz Salinas, F.J. Madrid-Cuevas, R. Medina-Carnicer, Pattern Recognition:51, 481-491,2016


This software is licensed under GPLv3 license for personal, research and educational purposes. For a commercial license please contact


If you have any further question, please contact

Related Projects

The current project has been extended in the following projects: Marker MapperSPM-SLAM, and UcoSLAM