The inventive concept relate to a technology, which recognizes widely deformable markers with high accuracy in an end-to-end manner of message encoding and decoding, and which generates and recognizes deformable fiducial markers based on artificial intelligence, and includes generating, by a marker generator, a unique marker pattern as a fiducial marker in an input binary message, rendering, by an imaging simulator, an image by generating a training dataset of a realistic scene image with the generated fiducial marker, and training a marker detector with the rendered image.