Image digital zoom based single target apriltag recognition algorithm in large scale changes on the distance

Aiming at the problems of the existing Apriltag detection and recognition algorithm, such as complex targets, low efficiency and poor recognition accuracy, an improved single Apriltag recognition algorithm based on image digital zoom is proposed in this paper. The algorithm achieves automatic digital zoom by changing the area ratio of a single Apriltag in the field and the display resolution of the view, which effectively simplifies the recognition target, reduces the complexity of the algorithm, and improves the efficiency of target detection and recognition. The experimental results show that the algorithm proposed in this paper can realize the high efficiency and high accuracy of Apriltag detection and recognition under different distances in large scale, and the continuity of position data output can be ensured before and after zoom, which can meet the real-Time and accuracy requirements of UAV positioning during landing.