5.8 AprilTags

AprilTags are 8⅛ in. (~20 cm) square targets located above SUBWOOFERS, on SOURCE walls, above AMP walls, and above TRAPS. There are 16 unique markers on the FIELD, positioned as shown in Figure 5‑19.

Figure 5‑19 AprilTag locations

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All markers are from the 36h11 tag family, IDs 1-16. AprilTags 1-10 are mounted to and centered on a 10½ in. (~27 cm) square polycarbonate panel; AprilTags 11-16 are mounted to an aluminum plate. Each marker has an identifying text label. If AprilTags experience wear and marking during MATCHES, they are repaired with gaffers tape.

Figure 5‑20 AprilTag sizing (plastic mounted, then aluminum mounted)

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SOURCE AprilTags (IDs 1, 2, 9, and 10) are mounted to the SOURCE wall. The bottom of each tags panel is 4 ft. ⅛ in. (~122 cm) above the carpet and 1 ft. 7⅜ in. (~50 cm) from the vertical center of the SOURCE.

Figure 5‑21 SOURCE AprilTags

SPEAKER AprilTags (IDs 3, 4, 7, and 8) are mounted to the ALLIANCE WALL. The bottom of each tags panel is 4 ft. 3⅞ in. (~132 cm) above the carpet. 1 tag (IDs 4 and 7) is vertically centered above each SUBWOOFER. The 2^nd tag (IDs 3 and 8) is shifted toward DRIVER STATION 2 and the edge of its panel is 1 ft. 5 in. (~43 cm) from the vertical center of the SPEAKER ALLIANCE WALL plastic.

Figure 5‑22 SPEAKER AprilTags

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AMP AprilTag panels (IDs 5 and 6) are 4 ft. ⅛ in. (~122 cm) above the carpet and centered vertically above the AMP wall.

Figure 5‑23 AMP AprilTag

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STAGE AprilTag plates (IDs 11-16) are 3 ft. 11½ in. (~121 cm) above the carpet and centered vertically on each of the 3 wide faces of the STAGE core. These tags are behind ¼-in. (~6 mm) thick polycarbonate.

Figure 5‑24 STAGE AprilTags

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For further marker locating information please refer to the 2024 ARENA Layout and Marking Diagram. Printable versions of the markers are available on the 2024 Playing FIELD webpage.