AprilTag Generator

Generate ready-to-print AprilTag, ArUco, and CCTag fiducial markers as PDF, PNG, or SVG. Free, open-source, browser-based, with built-in support for recursive nested tags (e.g. tagCustom48h12).

By Ayyazul Hassan · hayyazul@gmail.com · Stats & CS @ UIUC, SIGRobotics@UIUC · LinkedIn · Source

Fiducial marker families

A fiducial marker is a printed pattern designed to be detected and uniquely identified by a camera. This tool generates printable sheets for the three most widely-used families:

AprilTag: 2D fiducials developed at the University of Michigan’s APRIL Lab. The default in robotics for pose estimation and object identification — used in drones, AR, FRC, and computer-vision research. Detector and bitmaps are open source; this tool draws from apriltag-imgs and is compatible with AprilRobotics’ apriltag library. Supported: tag36h11 (the robotics default), tagStandard41h12, tagStandard52h13, the recursive tagCustom48h12, and the circular tagCircle21h7 / tagCircle49h12.
ArUco: 2D fiducials originally developed at the Universidad de Córdoba and shipped with OpenCV’s aruco module. Similar role to AprilTag but with different bit layouts and Hamming distances. See the OpenCV ArUco detection tutorial. Supported: the DICT_4X4, DICT_5X5, DICT_6X6, and DICT_7X7 dictionaries at sizes 50, 100, 250, and 1000, plus the original ArUco dictionary.
CCTag: Concentric-ring fiducial markers designed for robust detection under motion blur and challenging lighting. Used in cinematography, photogrammetry, and SLAM research where AprilTag/ArUco-style square markers underperform. Supported: cctag3 and cctag4.

Recursive nested tags

You can nest a smaller tag inside another tag’s center region. The tool computes the inner tag’s size and quiet zone automatically and renders both as a single printable PDF. Useful for applications which benefit from multi-scale detection, like take-off and landing sites for drones and for increasing detection accuracy as a whole. Currently supported on the tagCustom48h12 AprilTag family, with all square tags supported as sub-families.