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Existing approaches for embedding unobtrusive tags inside 3D objects requireeither complex fabrication or high-cost imaging equipment. We presentInfraredTags, which are 2D markers and barcodes imperceptible to the naked eyethat can be 3D printed as part of objects, and detected rapidly by low-costnear-infrared cameras. We achieve this by printing objects from aninfrared-transmitting filament, which infrared cameras can see through, and byhaving air gaps inside for the tag's bits, which appear at a differentintensity in the infrared image.  We built a user interface that facilitates the integration of common tags (QRcodes, ArUco markers) with the object geometry to make them 3D printable asInfraredTags. We also developed a low-cost infrared imaging module thataugments existing mobile devices and decodes tags using our image processingpipeline. Our evaluation shows that the tags can be detected with littlenear-infrared illumination (0.2lux) and from distances as far as 250cm. Wedemonstrate how our method enables various applications, such as objecttracking and embedding metadata for augmented reality and tangibleinteractions.

InfraredTags: Embedding Invisible AR Markers and Barcodes Using Low-Cost, Infrared-Based 3D Printing and Imaging Tools