We describe the design and implementation of a
fiducial marker system that encodes data in the frequency
spectrum of a synthetic image. This distinctive approach to
marker synthesis and data encoding allows for partial data
extraction in adverse imaging conditions, and can significantly
extend the detection range through graceful data degradation.
Additional digital encoding and image construction techniques
are used to increase the payload capacity, and also to store
3-D pose information in each fiducial marker. This fiducial
marker scheme can be configured to match the needs of the
target application.We present several experiments investigating
the practical range of various parameters as well as the
performance of a specific instance of the system.