Evidence map›Paper›PMID 42321254›Full record

ArticleScientific reports2026

Visibility-aware Fisher information optimization for optimal fiducial marker deployment in complex indoor environments.

Banafshe Akbarinia, Meor Faisal Zulkifli, Bushroa Abd Razak, Mohd Ridha Muhamad, Hamed Shahmohamadi Ousaloo, Norrima Mokhtar

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in Scientific reports, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it
0cells of the map it votes in
0citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

0 citing papers in PubMed.

No citing paper in PubMed yet.

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

6 authors.

Banafshe AkbariniaDepartment of Mechanical Engineering, Faculty of Engineering, University of Malaya, 50603, Kuala Lumpur, Malaysia. banafshe.akbarinia@um.edu.my.
Meor Faisal ZulkifliDepartment of Mechanical Engineering, Faculty of Engineering, University of Malaya, 50603, Kuala Lumpur, Malaysia. meor@um.edu.my.
Bushroa Abd RazakDepartment of Mechanical Engineering, Faculty of Engineering, University of Malaya, 50603, Kuala Lumpur, Malaysia.
Mohd Ridha MuhamadDepartment of Mechanical Engineering, Faculty of Engineering, University of Malaya, 50603, Kuala Lumpur, Malaysia.
Hamed Shahmohamadi OusalooElectrical & Robotics Engineering Department, School of Engineering, Monash University Malaysia, 47500, Bandar Sunway, Selangor, Malaysia.
Norrima MokhtarDepartment of Electrical Engineering, Faculty of Engineering, University of Malaya, 50603, Kuala Lumpur, Malaysia.

Funding

Ministry of Higher Education, Malaysia FRGS/1/2024/TK08/UM/02/2
6 · The paper itself

Abstract

Fiducial markers are fundamental tools for visual localization, calibration, and augmented reality; however, the precision of these systems is fundamentally constrained by the spatial configuration of the markers. We introduce a principled pipeline for optimal marker deployment in indoor scenes. The method (i) extracts wall-like candidate locations from dense 3D reconstructions, (ii) computes a Fisher Information Matrix (FIM) for each candidate by analytically aggregating the Jacobians of projected marker corners over a set of camera poses, and (iii) selects a compact subset of markers via an information-aware optimization strategy. Given a Matterport-style point cloud, the system automatically proposes marker poses on planar surfaces at user-specified heights. The proposed framework was validated through both simulation and real-world indoor experiments and compared against random, uniform, and optimization-based baseline strategies.

Indexed as

Fiducial markersFisher informationMatterport point cloudOptimal marker placementVisibility aware selectionVisual localization

Identifiers

PMID42321254
PMCPMC13554240

What OpenQuestion holds

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Registered trials

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.