text: The results delivered by the proposed solution has been compared to the ones delivered by the three following fiducial marker systems: i) ARTKPlus [12]: this system remains, yet not recent, a reference in the publicly available solution; ii) PRASAD [16]: this system is the closest to our proposal as using concentric rings in order the propose a fiducial detection resiliant to motion blur; iii) RuneTag [2]: as we want to demonstrate the robustness of our system to severe occlusions, we also decided to conduct a comparison against this recent solution.