Merge pull request #28824 from s-trinh:update_ArUco_doc

Update ArUco doc #28824 See https://github.com/opencv/opencv/pull/28823 Update of the ArUco doc but targeted for OpenCV 4. ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [x] The feature is well documented and sample code can be built with the project CMake
2026-09-11 04:43:22 -05:00 · 2026-05-20 14:05:51 +02:00
parent 7c7ee97493
commit 0abd5c86f7
26 changed files with 99 additions and 23 deletions
--- a/apps/interactive-calibration/main.cpp
+++ b/apps/interactive-calibration/main.cpp
@@ -52,7 +52,7 @@ const char* keys  =
        "DICT_4X4_50, DICT_4X4_100, DICT_4X4_250, DICT_4X4_1000, DICT_5X5_50, DICT_5X5_100, DICT_5X5_250, "
        "DICT_5X5_1000, DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50, DICT_7X7_100, "
        "DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL, DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, "
-        "DICT_APRILTAG_36h10, DICT_APRILTAG_36h11 }"
+        "DICT_APRILTAG_36h10, DICT_APRILTAG_36h11, DICT_ARUCO_MIP_36h12 }"
        "{fad      | None    | name of file with ArUco dictionary}"
        "{of       | cameraParameters.xml | Output file name}"
        "{ft       | true    | Auto tuning of calibration flags}"
--- a/apps/interactive-calibration/parametersController.cpp
+++ b/apps/interactive-calibration/parametersController.cpp
@@ -175,6 +175,7 @@ bool calib::parametersController::loadFromParser(cv::CommandLineParser &parser)
        else if (arucoDictName == "DICT_APRILTAG_25h9") { mCapParams.charucoDictName = cv::aruco::DICT_APRILTAG_25h9; }
        else if (arucoDictName == "DICT_APRILTAG_36h10") { mCapParams.charucoDictName = cv::aruco::DICT_APRILTAG_36h10; }
        else if (arucoDictName == "DICT_APRILTAG_36h11") { mCapParams.charucoDictName = cv::aruco::DICT_APRILTAG_36h11; }
+        else if (arucoDictName == "DICT_ARUCO_MIP_36h12") { mCapParams.charucoDictName = cv::aruco::DICT_ARUCO_MIP_36h12; }
        else {
            std::cout << "incorrect name of aruco dictionary \n";
            return false;
--- a/apps/pattern-tools/DICT_ARUCO_MIP_36h12.json.gz
+++ b/apps/pattern-tools/DICT_ARUCO_MIP_36h12.json.gz
--- a/apps/pattern-tools/test_charuco_board.py
+++ b/apps/pattern-tools/test_charuco_board.py
@@ -20,10 +20,10 @@ class aruco_objdetect_test(NewOpenCVTests):
            square_size = 100
            aruco_type = [cv.aruco.DICT_4X4_1000, cv.aruco.DICT_5X5_1000, cv.aruco.DICT_6X6_1000,
                        cv.aruco.DICT_7X7_1000, cv.aruco.DICT_ARUCO_ORIGINAL, cv.aruco.DICT_APRILTAG_16h5,
-                        cv.aruco.DICT_APRILTAG_25h9, cv.aruco.DICT_APRILTAG_36h10, cv.aruco.DICT_APRILTAG_36h11]
+                        cv.aruco.DICT_APRILTAG_25h9, cv.aruco.DICT_APRILTAG_36h10, cv.aruco.DICT_APRILTAG_36h11, cv.aruco.DICT_ARUCO_MIP_36h12]
            aruco_type_str = ['DICT_4X4_1000','DICT_5X5_1000', 'DICT_6X6_1000',
                        'DICT_7X7_1000', 'DICT_ARUCO_ORIGINAL', 'DICT_APRILTAG_16h5',
-                        'DICT_APRILTAG_25h9', 'DICT_APRILTAG_36h10', 'DICT_APRILTAG_36h11']
+                        'DICT_APRILTAG_25h9', 'DICT_APRILTAG_36h10', 'DICT_APRILTAG_36h11', 'DICT_ARUCO_MIP_36h12']
            marker_size = 0.8*square_size
            board_width = cols*square_size
            board_height = rows*square_size
--- a/doc/tutorials/objdetect/aruco_detection/aruco_detection.markdown
+++ b/doc/tutorials/objdetect/aruco_detection/aruco_detection.markdown
@@ -144,7 +144,7 @@ Error correction techniques are employed when necessary.

 Consider the following image:

-![Image with an assortment of markers](images/singlemarkerssource.jpg)
+![Image with an assortment of markers](images/singlemarkerssource.jpg) { width=70% }

 And a printout of this image in a photo:

--- a/doc/tutorials/tutorials.markdown
+++ b/doc/tutorials/tutorials.markdown
@@ -6,7 +6,7 @@ OpenCV Tutorials {#tutorial_root}
 - @subpage tutorial_table_of_content_imgproc - image processing functions
 - @subpage tutorial_table_of_content_app - application utils (GUI, image/video input/output)
 - @subpage tutorial_table_of_content_calib3d - extract 3D world information from 2D images
- @subpage tutorial_table_of_content_objdetect - INSERT OBJDETECT MODULE INFO
+- @subpage tutorial_table_of_content_objdetect - detect ArUco markers and other calibration boards
 - @subpage tutorial_table_of_content_features2d - feature detectors, descriptors and matching framework
 - @subpage tutorial_table_of_content_dnn - infer neural networks using built-in _dnn_ module
 - @subpage tutorial_table_of_content_gapi - graph-based approach to computer vision algorithms building
--- a/modules/objdetect/doc/pics/AprilTag_corners_comparison_opencv_april.png
+++ b/modules/objdetect/doc/pics/AprilTag_corners_comparison_opencv_april.png
--- a/modules/objdetect/doc/pics/AprilTag_family.png
+++ b/modules/objdetect/doc/pics/AprilTag_family.png
--- a/modules/objdetect/doc/pics/ArUco_family.png
+++ b/modules/objdetect/doc/pics/ArUco_family.png
--- a/modules/objdetect/include/opencv2/objdetect.hpp
+++ b/modules/objdetect/include/opencv2/objdetect.hpp
@@ -128,6 +128,65 @@
        @sa @cite Aruco2014
        This code has been originally developed by Sergio Garrido-Jurado as a project
        for Google Summer of Code 2015 (GSoC 15).
+
+        <br>
+
+        @warning In OpenCV, the order of the returned corners locations for the AprilTag family is not aligned with the ArUco one.\n
+        Note that this order is also different from the convention adopted by the official [AprilTag library](https://github.com/AprilRobotics/apriltag/).
+        ![](pics/AprilTag_corners_comparison_opencv_april.png) { width=80% }
+
+        <br>
+
+        An overview of the supported ArUco markers family is visible in the following image:
+        ![](pics/ArUco_family.png) { width=80% }
+
+        <br>
+
+        An overview of the supported AprilTag markers family is visible in the following image:
+        ![](pics/AprilTag_family.png) { width=80% }
+
+        @note The generated images (in the above picture) using @ref aruco::generateImageMarker for the AprilTag markers have been
+        rotated by 180 degree in order to match the official AprilTag images.
+        When using the @ref aruco::generateImageMarker function, it will output by default a different image from the official AprilTag convention,
+        see the [AprilRobotics/apriltag-imgs](https://github.com/AprilRobotics/apriltag-imgs) repository.
+        This is the reason why you see a different corners order between ArUco and AprilTag in the above image.
+
+        <br>
+
+        For the ArUco marker family, the recommended family is the DICT_ARUCO_MIP_36h12 one, [see](https://stackoverflow.com/a/51511558).
+        In general, a smaller marker family (e.g. `4x4` vs `6x6`) should give you a better detection rate with respect to the camera distance,
+        at the expense of having more probability to have issues with false detection or marker id decoding error.
+        The number of marker ids in a family is also something to take into account with respect to the application use case and the ability
+        to correct wrong bits during the marker id decoding process.
+
+        You can download some pregenerated MIP_36h12 ArUco marker images from:
+          - https://sourceforge.net/projects/aruco/files/
+          - or use the `samples/cpp/tutorial_code/objectDetection/create_marker.cpp` sample to generate the marker image for your
+          desired marker family (which uses the @ref aruco::generateImageMarker function)
+
+        For the AprilTag family, you can find some pregenerated marker images in the
+        [AprilRobotics/apriltag-imgs](https://github.com/AprilRobotics/apriltag-imgs) repository.
+
+        @note For accurate corners location extraction, a white border (to have a strong gradient between white and black transition) around the marker is important.
+        This is necessary to precisely extract the marker contour in difficult conditions such as bad illumination, confusing color background, etc.
+
+        <br>
+
+        There are multiple parameters which can be tweaked to improve the marker detection rate or to be adapted to your use case (e.g. image resolution).
+        Please refer to the:
+          - @ref aruco::DetectorParameters
+          - "Detector Parameters" section in the @ref tutorial_aruco_detection tutorial or in the @ref tutorial_aruco_faq page
+          - [ArUco Library Documentation](https://drive.google.com/file/d/1OiavRVYVJ-WH88sQg1LUsh8CuJZUQyrX) for additional information from the ArUco library
+
+        The corner refinement method can be changed according to the @ref aruco::CornerRefineMethod to improve the corners location accuracy
+        at the expense of more computation time.
+
+        <br>
+
+        To estimate the marker pose with respect to the camera frame, we recommend you to look at the following sources of information:
+          - @ref tutorial_aruco_detection for a tutorial about ArUco markers detection
+          - @ref calib3d for some theoretical background about the pinhole camera model and the @ref calib3d_solvePnP page
+          - @ref solvePnP, @ref solvePnPGeneric, @ref solveP3P for the relevant pose estimation methods
    @}

@}
--- a/samples/cpp/aruco_dict_utils.cpp
+++ b/samples/cpp/aruco_dict_utils.cpp
@@ -260,7 +260,7 @@ const char* keys  =
        "DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50,"
        "DICT_7X7_100, DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL,"
        "DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10,"
-        "DICT_APRILTAG_36h11}"
+        "DICT_APRILTAG_36h11, DICT_ARUCO_MIP_36h12}"
        "{nMarkers   |       | Number of markers in the dictionary }"
        "{markerSize |       | Marker size }"
        "{cd         |       | Input file with custom dictionary }";
@@ -309,6 +309,7 @@ int main(int argc, char *argv[])
        else if (arucoDictName == "DICT_APRILTAG_25h9") { arucoDict = cv::aruco::DICT_APRILTAG_25h9; }
        else if (arucoDictName == "DICT_APRILTAG_36h10") { arucoDict = cv::aruco::DICT_APRILTAG_36h10; }
        else if (arucoDictName == "DICT_APRILTAG_36h11") { arucoDict = cv::aruco::DICT_APRILTAG_36h11; }
+        else if (arucoDictName == "DICT_ARUCO_MIP_36h12") { arucoDict = cv::aruco::DICT_ARUCO_MIP_36h12; }
        else {
            cout << "incorrect name of aruco dictionary \n";
            return 1;
@@ -328,13 +329,14 @@ int main(int argc, char *argv[])
        cerr << "Dictionary not specified" << endl;
        return 0;
    }
+
    if (!outputFile.empty() && nMarkers > 0 && markerSize > 0)
    {
        FileStorage fs(outputFile, FileStorage::WRITE);
        if (checkFlippedMarkers)
-            dictionary = generateCustomAsymmetricDictionary(nMarkers, markerSize, aruco::Dictionary(), 0);
+            dictionary = generateCustomAsymmetricDictionary(nMarkers, markerSize, dictionary, 0);
        else
-            dictionary = aruco::extendDictionary(nMarkers, markerSize, aruco::Dictionary(), 0);
+            dictionary = aruco::extendDictionary(nMarkers, markerSize, dictionary, 0);
        dictionary.writeDictionary(fs);
    }

--- a/samples/cpp/calibration.cpp
+++ b/samples/cpp/calibration.cpp
@@ -66,7 +66,7 @@ static void help(char** argv)
        "DICT_4X4_1000, DICT_5X5_50, DICT_5X5_100, DICT_5X5_250, DICT_5X5_1000, "
        "DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50, "
        "DICT_7X7_100, DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL, "
-        "DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10, DICT_APRILTAG_36h11\n"
+        "DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10, DICT_APRILTAG_36h11, DICT_ARUCO_MIP_36h12\n"
        "     [-adf=<dictFilename>]    # Custom aruco dictionary file for ChArUco board\n"
        "     [-o=<out_camera_params>] # the output filename for intrinsic [and extrinsic] parameters\n"
        "     [-op]                    # write detected feature points\n"
@@ -458,6 +458,7 @@ int main( int argc, char** argv )
    else if (arucoDictName == "DICT_APRILTAG_25h9") { arucoDict = cv::aruco::DICT_APRILTAG_25h9; }
    else if (arucoDictName == "DICT_APRILTAG_36h10") { arucoDict = cv::aruco::DICT_APRILTAG_36h10; }
    else if (arucoDictName == "DICT_APRILTAG_36h11") { arucoDict = cv::aruco::DICT_APRILTAG_36h11; }
+    else if (arucoDictName == "DICT_ARUCO_MIP_36h12") { arucoDict = cv::aruco::DICT_ARUCO_MIP_36h12; }
    else {
        cout << "Incorrect Aruco dictionary name " <<  arucoDictName << std::endl;
        return 1;
--- a/samples/cpp/stereo_calib.cpp
+++ b/samples/cpp/stereo_calib.cpp
@@ -58,7 +58,7 @@ static int print_help(char** argv)
        << "DICT_4X4_1000, DICT_5X5_50, DICT_5X5_100, DICT_5X5_250, DICT_5X5_1000, "
        << "DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50, "
        << "DICT_7X7_100, DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL, "
-        << "DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10, DICT_APRILTAG_36h11\n";
+        << "DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10, DICT_APRILTAG_36h11, DICT_ARUCO_MIP_36h12\n";

    return 0;
 }
@@ -435,6 +435,7 @@ int main(int argc, char** argv)
    else if (arucoDictName == "DICT_APRILTAG_25h9") { arucoDict = cv::aruco::DICT_APRILTAG_25h9; }
    else if (arucoDictName == "DICT_APRILTAG_36h10") { arucoDict = cv::aruco::DICT_APRILTAG_36h10; }
    else if (arucoDictName == "DICT_APRILTAG_36h11") { arucoDict = cv::aruco::DICT_APRILTAG_36h11; }
+    else if (arucoDictName == "DICT_ARUCO_MIP_36h12") { arucoDict = cv::aruco::DICT_ARUCO_MIP_36h12; }
    else {
        cout << "incorrect name of aruco dictionary \n";
        return 1;
--- a/samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp
+++ b/samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp
@@ -339,6 +339,7 @@ int main(int argc, char* argv[])
            else if (s.arucoDictName == "DICT_APRILTAG_25h9") { arucoDict = cv::aruco::DICT_APRILTAG_25h9; }
            else if (s.arucoDictName == "DICT_APRILTAG_36h10") { arucoDict = cv::aruco::DICT_APRILTAG_36h10; }
            else if (s.arucoDictName == "DICT_APRILTAG_36h11") { arucoDict = cv::aruco::DICT_APRILTAG_36h11; }
+            else if (s.arucoDictName == "DICT_ARUCO_MIP_36h12") { arucoDict = cv::aruco::DICT_ARUCO_MIP_36h12; }
            else {
                cout << "incorrect name of aruco dictionary \n";
                return 1;
--- a/samples/cpp/tutorial_code/objectDetection/calibrate_camera.cpp
+++ b/samples/cpp/tutorial_code/objectDetection/calibrate_camera.cpp
@@ -25,7 +25,8 @@ const char* keys  =
        "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
        "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
        "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
-        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
+        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
+        "DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
        "{cd       |       | Input file with custom dictionary }"
        "{@outfile |cam.yml| Output file with calibrated camera parameters }"
        "{v        |       | Input from video file, if ommited, input comes from camera }"
--- a/samples/cpp/tutorial_code/objectDetection/calibrate_camera_charuco.cpp
+++ b/samples/cpp/tutorial_code/objectDetection/calibrate_camera_charuco.cpp
@@ -23,7 +23,8 @@ const char* keys  =
        "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
        "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
        "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
-        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
+        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
+        "DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
        "{cd       |       | Input file with custom dictionary }"
        "{@outfile |cam.yml| Output file with calibrated camera parameters }"
        "{v        |       | Input from video file, if ommited, input comes from camera }"
--- a/samples/cpp/tutorial_code/objectDetection/create_board.cpp
+++ b/samples/cpp/tutorial_code/objectDetection/create_board.cpp
@@ -16,7 +16,8 @@ const char* keys  =
        "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
        "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
        "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
-        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
+        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
+        "DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
        "{cd       |       | Input file with custom dictionary }"
        "{m        |       | Margins size (in pixels). Default is marker separation (-s) }"
        "{bb       | 1     | Number of bits in marker borders }"
--- a/samples/cpp/tutorial_code/objectDetection/create_board_charuco.cpp
+++ b/samples/cpp/tutorial_code/objectDetection/create_board_charuco.cpp
@@ -17,7 +17,8 @@ const char* keys  =
        "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
        "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
        "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
-        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
+        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
+        "DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
        "{cd       |       | Input file with custom dictionary }"
        "{m        |       | Margins size (in pixels). Default is (squareLength-markerLength) }"
        "{bb       | 1     | Number of bits in marker borders }"
--- a/samples/cpp/tutorial_code/objectDetection/create_diamond.cpp
+++ b/samples/cpp/tutorial_code/objectDetection/create_diamond.cpp
@@ -17,7 +17,8 @@ const char* keys  =
        "{d        |   10      | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
        "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
        "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
-        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
+        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
+        "DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
        "{ids      |0, 1, 2, 3 | Four ids for the ChArUco marker: id1,id2,id3,id4 }"
        "{m        |   0       | Margins size (in pixels) }"
        "{bb       |   1       | Number of bits in marker borders }"
--- a/samples/cpp/tutorial_code/objectDetection/create_marker.cpp
+++ b/samples/cpp/tutorial_code/objectDetection/create_marker.cpp
@@ -6,7 +6,7 @@
 using namespace cv;

 namespace {
-const char* about = "Create an ArUco marker image";
+const char* about = "Create an ArUco/AprilTag marker image";

 //! [aruco_create_markers_keys]
 const char* keys  =
@@ -14,7 +14,8 @@ const char* keys  =
        "{d        | 0     | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
        "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
        "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
-        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
+        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
+        "DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
        "{cd       |       | Input file with custom dictionary }"
        "{id       | 0     | Marker id in the dictionary }"
        "{ms       | 200   | Marker size in pixels }"
--- a/samples/cpp/tutorial_code/objectDetection/detect_board.cpp
+++ b/samples/cpp/tutorial_code/objectDetection/detect_board.cpp
@@ -19,7 +19,8 @@ const char* keys  =
        "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
        "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
        "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
-        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
+        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
+        "DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
        "{cd       |       | Input file with custom dictionary }"
        "{c        |       | Output file with calibrated camera parameters }"
        "{v        |       | Input from video or image file, if omitted, input comes from camera }"
--- a/samples/cpp/tutorial_code/objectDetection/detect_board_charuco.cpp
+++ b/samples/cpp/tutorial_code/objectDetection/detect_board_charuco.cpp
@@ -19,7 +19,8 @@ const char* keys  =
        "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
        "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
        "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
-        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
+        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
+        "DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
        "{cd       |       | Input file with custom dictionary }"
        "{c        |       | Output file with calibrated camera parameters }"
        "{v        |       | Input from video or image file, if ommited, input comes from camera }"
--- a/samples/cpp/tutorial_code/objectDetection/detect_diamonds.cpp
+++ b/samples/cpp/tutorial_code/objectDetection/detect_diamonds.cpp
@@ -16,7 +16,8 @@ const char* keys  =
        "{d        | 10    | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
        "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
        "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
-        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
+        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
+        "DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
        "{cd       |       | Input file with custom dictionary }"
        "{c        |       | Output file with calibrated camera parameters }"
        "{as       |       | Automatic scale. The provided number is multiplied by the last"
--- a/samples/cpp/tutorial_code/objectDetection/detect_markers.cpp
+++ b/samples/cpp/tutorial_code/objectDetection/detect_markers.cpp
@@ -15,7 +15,7 @@ const char* keys  =
        "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
        "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16,"
-        "DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20}"
+        "DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
        "{cd       |       | Input file with custom dictionary }"
        "{v        |       | Input from video or image file, if ommited, input comes from camera }"
        "{ci       | 0     | Camera id if input doesnt come from video (-v) }"
--- a/samples/python/aruco_detect_board_charuco.py
+++ b/samples/python/aruco_detect_board_charuco.py
@@ -36,7 +36,8 @@ def main():
    parser.add_argument("-d", help="dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,  DICT_4X4_1000=3,"
                                   "DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, DICT_6X6_50=8,"
                                   "DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12, DICT_7X7_100=13,"
-                                   "DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}",
+                                   "DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
+                                   "DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}",
                        default="0", action="store", dest="d", type=int)
    parser.add_argument("-ci", help="Camera id if input doesnt come from video (-v)", default="0", action="store",
                        dest="ci", type=int)
--- a/samples/python/calibrate.py
+++ b/samples/python/calibrate.py
@@ -100,7 +100,8 @@ def main():
        'DICT_APRILTAG_16h5': cv.aruco.DICT_APRILTAG_16h5,
        'DICT_APRILTAG_25h9': cv.aruco.DICT_APRILTAG_25h9,
        'DICT_APRILTAG_36h10': cv.aruco.DICT_APRILTAG_36h10,
-        'DICT_APRILTAG_36h11': cv.aruco.DICT_APRILTAG_36h11
+        'DICT_APRILTAG_36h11': cv.aruco.DICT_APRILTAG_36h11,
+        'DICT_ARUCO_MIP_36h12': cv.aruco.DICT_ARUCO_MIP_36h12
    }

    if (aruco_dict_name not in set(aruco_dicts.keys())):