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Printable AprilTags for Model C2.

In very uniform areas, AprilTags give Model C2’s camera fixed reference points, so it always knows where it is. Download tags 1 to 50, ready to print, with the instructions.

  • 50 tags, IDs 1–50
  • AprilTag 36h11
  • 150 mm black square
Download PDF (US Letter) A4

PDF, 0.8 MB: printing instructions, then one tag per page.

AprilTag 36h11 ID 7, as printed
ID 7 The black square and this bar print at exactly 150 mm

When they help

For places that all look the same.

Model C2 finds its way mainly with LiDAR, which needs distinct shapes around it. In long plain corridors, rows of identical shelving or racking, or rooms that look alike, it can lose track of where it is.

  • The cart slows or stops unexpectedly

    Or drifts off its usual path in the same part of the building.

  • Its position on the map is wrong

    The cart’s icon doesn’t match where it really is, or the whole map seems to shift.

  • AprilTags fix it

    Printed markers the cart’s front camera recognizes, used as fixed reference points alongside the LiDAR.

How to use them

Print, check, put them up, map.

The same steps are on the first page of the PDF and in the Model C2 User Guide, section 5.7.

  • Use each ID only once in a facility: duplicate tags make the cart jump on its map.
  • Don’t move a tag once the map is saved; to move one, remap that area.
  • Tag ID 0 isn’t supported, so the set starts at 1.
  1. Print at 100%Print the pages you need on plain white paper, at “Actual size” or 100%, with “Fit to page” and any other scaling turned off. A laser printer gives the sharpest edges.
  2. Check the sizeMeasure the black square with a ruler: it must be exactly 150 mm, the same as the bar printed under it. If it isn’t, fix the scaling and print again.
  3. LaminateLaminate the tags, matte if possible to avoid glare, so they stay flat and readable. Keep the white border around the black square.
  4. Mount themFix each tag flat on a wall or structural pillar, 3–4 ft (0.9–1.2 m) above the floor and 6–12 in (15–30 cm) above or below the cart’s front camera, not level with it: the camera reads a tag best at a slight angle. Pick spots the cart sees clearly on its usual paths.
  5. Map the areaPut the tags up before you make or update the map. During mapping, each tag the camera links to the map shows as a green line on the mapping graph. No other setup is needed.

Not sure where tags would help?

Send us a photo of the area or a screenshot of the map, and we’ll suggest where to put them.

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