In this study, two types of maker-based tracking system for Augmented Reality have been developed. One is a tracking system which employs line-shaped markers and the other employs circular-shaped markers. The line-shaped markers are suitable for complicated rooms and the circular-shaped markers are suitable for outdoors. Some laboratory experiments have been conducted in order to evaluate the performance of the developed systems. The result shows that the covering area and accuracy can be greatly improved compared to the legacy marker-based tracking systems.