From what I understand (which is limited) a QR code can function as a fiducial but the cutting edge of fiducials far exceed QR codes in terms of recognition spe

From what I understand (which is limited) a QR code can function as a fiducial but the cutting edge of fiducials far exceed QR codes in terms of recognition speed and can be understood in terms of their relative 3D orientation to the scanner much more accurately and efficiently than QR codes. The docs page for AprilTag[0] makes for an explanatory example, "AprilTags are conceptually similar to QR Codes, in that they are a type of two-dimensional bar code. However, they are designed to encode far smaller data payloads (between 4 and 12 bits), allowing them to be detected more robustly and from longer ranges. Further, they are designed for high localization accuracy— you can compute the precise 3D position of the AprilTag with respect to the camera." [0]https://april.eecs.umich.edu/software/apriltag https://april.eecs.umich.edu/software/apriltag Something with the recognition speed and 3D orientation understanding of an AprilTag and with the information density of a QR code seems like it could be quite a useful innovation.