diff --git a/README.md b/README.md
index c67e6e2..14b37af 100644
--- a/README.md
+++ b/README.md
@@ -1,24 +1,169 @@
-# arjs-plugin-artoolkit
-```markdown
 # @ar-js-org/arjs-plugin-artoolkit
 
-Minimal ARToolKit detection plugin scaffold for AR.js core.
+ARToolKit marker detection plugin for AR.js core with WebAssembly support.
+
+## Features
+
+- Web Worker-based detection — marker detection runs off the main thread
+- ImageBitmap support — zero-copy frame transfer (browser)
+- Cross-platform — browser Workers and Node.js worker_threads (stub path)
+- ARToolKit integration — square pattern markers
+- Event-driven API — marker found/updated/lost + raw getMarker forwarding
+- Filtering — only forwards PATTERN_MARKER events above a minimum confidence
+
+## Installation
+
+```bash
+npm install @ar-js-org/arjs-plugin-artoolkit
+```
+
+## Configuration (module + assets)
+
+To ensure the Worker can import ARToolKit in the browser, pass an explicit ESM URL (recommended):
+
+```js
+const plugin = new ArtoolkitPlugin({
+  worker: true,
+  artoolkitModuleUrl: '/node_modules/@ar-js-org/artoolkit5-js/dist/ARToolkit.js', // explicit ESM
+  cameraParametersUrl: '/path/to/camera_para.dat',                                // optional override
+  wasmBaseUrl: '/node_modules/@ar-js-org/artoolkit5-js/dist/',                    // optional; if your build needs it
+  minConfidence: 0.6                                                              // forward only confident detections
+});
+```
+
+CDN fallback (if you don’t serve node_modules):
+- Set `artoolkitModuleUrl` to a CDN ESM endpoint, e.g. a jsDelivr/UNPKG URL for the package’s ESM bundle.
+
+Notes:
+- The previous “loader.js” and manual WASM placement flow is no longer used.
+- If your ARToolKit build fetches auxiliary assets (WASM, data), set `wasmBaseUrl` accordingly.
 
 ## Usage
 
-Register with the Engine plugin manager:
+### Register and enable
 
 ```js
 import { ArtoolkitPlugin } from '@ar-js-org/arjs-plugin-artoolkit';
 
-engine.pluginManager.register('artoolkit', new ArtoolkitPlugin({ /* options */ }));
+const plugin = new ArtoolkitPlugin({
+  worker: true,
+  lostThreshold: 5,       // frames before a marker is considered lost
+  frameDurationMs: 100,   // expected ms per frame (affects lost timing)
+  artoolkitModuleUrl: '/node_modules/@ar-js-org/artoolkit5-js/dist/ARToolkit.js',
+  cameraParametersUrl: '/data/camera_para.dat',
+  minConfidence: 0.6
+});
+
+engine.pluginManager.register('artoolkit', plugin);
 await engine.pluginManager.enable('artoolkit');
 ```
 
-The plugin emits events on the engine event bus:
-- `ar:markerFound`
-- `ar:markerUpdated`
-- `ar:markerLost`
+### Events
+
+The plugin emits the following events on your engine’s event bus:
+
+```js
+// Marker first detected
+engine.eventBus.on('ar:markerFound', ({ id, poseMatrix, confidence, corners }) => {
+  // poseMatrix is Float32Array(16)
+});
+
+// Marker updated (tracking)
+engine.eventBus.on('ar:markerUpdated', (data) => {
+  // same shape as markerFound
+});
+
+// Marker lost
+engine.eventBus.on('ar:markerLost', ({ id }) => {});
+
+// Worker lifecycle
+engine.eventBus.on('ar:workerReady', () => {});
+engine.eventBus.on('ar:workerError', (error) => {});
+
+// Raw ARToolKit getMarker (filtered: PATTERN_MARKER only, above minConfidence)
+engine.eventBus.on('ar:getMarker', (payload) => {
+  // payload = { type, matrix: number[16], marker: { idPatt, cfPatt, idMatrix?, cfMatrix?, vertex? } }
+});
+```
+
+### Sending frames
+
+```js
+// Create ImageBitmap from a <video> or <canvas>
+const imageBitmap = await createImageBitmap(video);
+
+// Emit an engine update; the plugin transfers the ImageBitmap to the worker
+engine.eventBus.emit('engine:update', {
+  id: frameId,
+  timestamp: Date.now(),
+  imageBitmap,
+  width: imageBitmap.width,
+  height: imageBitmap.height
+});
+
+// The ImageBitmap is transferred and cannot be reused; the worker will close it.
+```
+
+### Loading a pattern marker
+
+```js
+const { markerId, size } = await plugin.loadMarker('/examples/simple-marker/data/patt.hiro', 1);
+```
+
+## Examples
+
+A complete webcam-based example is available under `examples/simple-marker/`.
+
+Serve from the repository root so that ES modules and node_modules paths resolve:
+
+```bash
+# From repository root
+npx http-server -p 8080
+# or
+python3 -m http.server 8080
+```
+
+Open:
+- http://localhost:8080/examples/simple-marker/index.html
+
+The example demonstrates:
+- Webcam capture with getUserMedia
+- ImageBitmap creation and frame submission
+- Event handling and console output
+- Raw `ar:getMarker` payloads for debugging
+
+## API Reference
+
+### ArtoolkitPlugin options
+
+```ts
+{
+  worker?: boolean;            // Enable worker (default: true)
+  lostThreshold?: number;      // Frames before 'lost' (default: 5)
+  frameDurationMs?: number;    // ms per frame (default: 200)
+  sweepIntervalMs?: number;    // Lost-sweep interval (default: 100)
+  artoolkitModuleUrl?: string; // ESM URL for ARToolKit (recommended)
+  cameraParametersUrl?: string;// Camera params file URL
+  wasmBaseUrl?: string;        // Base URL for ARToolKit assets (if required)
+  minConfidence?: number;      // Minimum confidence to forward getMarker (default: 0.6)
+}
+```
+
+### Methods
+
+- `async init(core)` — initialize with engine core
+- `async enable()` — start worker and subscribe to frames
+- `async disable()` — stop worker and timers
+- `dispose()` — alias for disable
+- `getMarkerState(markerId)` — current tracked state
+- `async loadMarker(patternUrl: string, size = 1)` — load and track a pattern
+
+## Troubleshooting
 
-This repo contains a skeleton. Detection and worker/WASM integration will be implemented in follow-up work.
-```
\ No newline at end of file
+- “Failed to resolve module specifier” in the Worker:
+    - Provide `artoolkitModuleUrl` or serve `/node_modules` from your dev server
+- Worker not starting:
+    - Serve via HTTP/HTTPS; ensure ES modules and Workers are supported
+- No detections:
+    - Confirm camera started, correct marker pattern, sufficient lighting
+    - Adjust `minConfidence` to reduce/raise filtering
\ No newline at end of file
diff --git a/examples/simple-marker/README.md b/examples/simple-marker/README.md
new file mode 100644
index 0000000..3ae49a5
--- /dev/null
+++ b/examples/simple-marker/README.md
@@ -0,0 +1,132 @@
+# Simple Marker Example
+
+This example demonstrates how to load and track a pattern marker using the ARToolKit plugin.
+
+## Setup Instructions
+
+### 1. Install Dependencies
+
+From the repository root, install the dependencies:
+
+```bash
+npm install
+```
+
+### 2. Serve the Example
+
+You must serve from the repository root so that:
+- ES modules resolve (../../src/plugin.js)
+- The worker module URL (../../node_modules/...) is reachable
+
+You can use any static file server. Examples:
+
+#### Option A: Using Python
+
+```bash
+# From repository root
+python3 -m http.server 8080
+```
+
+Then open: http://localhost:8080/examples/simple-marker/index.html
+
+#### Option B: Using Node.js http-server
+
+```bash
+# Install http-server globally if not already installed
+npm install -g http-server
+
+# From repository root
+http-server -p 8080
+```
+
+Then open: http://localhost:8080/examples/simple-marker/index.html
+
+#### Option C: Using VS Code Live Server
+
+If you're using VS Code with the Live Server extension:
+1. Right-click on `examples/simple-marker/index.html`
+2. Select "Open with Live Server"
+
+### 3. Using the Example
+
+1. Wait for the worker to be ready (status will change to “Worker ready”)
+2. Click “Start Camera” to begin sending frames
+3. Click “Load Marker” to load the Hiro pattern marker
+4. Show the marker to the camera and watch the event log and console
+
+## Module resolution
+
+The example config (in `index.html`) passes explicit URLs so the worker can import ARToolKit and camera params:
+
+```js
+const plugin = new ArtoolkitPlugin({
+  worker: true,
+  artoolkitModuleUrl: '/node_modules/@ar-js-org/artoolkit5-js/dist/ARToolkit.js',
+  cameraParametersUrl: '/examples/simple-marker/data/camera_para.dat'
+});
+```
+
+If your server can’t serve `/node_modules`, either:
+- Adjust `artoolkitModuleUrl` to a path your server exposes, or
+- Use a CDN ESM URL as a fallback (see project README for details)
+
+## What’s Happening
+
+This example demonstrates:
+
+1. Plugin Initialization: creating and enabling `ArtoolkitPlugin`
+2. Worker Communication: the plugin starts a Worker for detection
+3. Pattern Loading: `plugin.loadMarker('/examples/simple-marker/data/patt.hiro', 1)`
+4. Event Handling:
+    - `ar:workerReady` — Worker initialized
+    - `ar:markerFound` — First detection of a marker
+    - `ar:markerUpdated` — Subsequent tracking updates
+    - `ar:markerLost` — Marker no longer visible
+    - `ar:getMarker` — Raw ARToolKit getMarker payload (type, matrix, marker fields)
+
+## Pattern File
+
+The `data/patt.hiro` file is a standard ARToolKit pattern. You can replace it with your own pattern and update the URL accordingly.
+
+## Code Overview
+
+Key parts of the example:
+
+```javascript
+// Create plugin instance with worker enabled and explicit module/params URLs
+const plugin = new ArtoolkitPlugin({
+  worker: true,
+  artoolkitModuleUrl: '/node_modules/@ar-js-org/artoolkit5-js/dist/ARToolkit.js',
+  cameraParametersUrl: '/examples/simple-marker/data/camera_para.dat'
+});
+
+// Initialize and enable
+await plugin.init(core);
+await plugin.enable();
+
+// Load a pattern marker
+const result = await plugin.loadMarker('/examples/simple-marker/data/patt.hiro', 1);
+console.log(`Marker loaded with ID: ${result.markerId}`);
+```
+
+## Troubleshooting
+
+- Worker not loading?
+    - Ensure you’re serving via HTTP/HTTPS from the repository root (not `file://`)
+    - Check console for module resolution/CORS errors
+- Module import errors?
+    - Make sure `/node_modules/@ar-js-org/artoolkit5-js/dist/ARToolkit.js` is reachable, or use a CDN URL
+- Marker not loading?
+    - Verify the pattern file path is correct and accessible
+    - Ensure the worker is ready before calling `loadMarker()`
+- No detections?
+    - Click “Start Camera” before “Load Marker”
+    - Ensure good lighting and the correct marker
+    - Increase confidence tolerance if needed (see README options)
+
+## Browser Support
+
+This example requires:
+- ES modules
+- Web Workers
+- Modern browser (Chrome 80+, Firefox 75+, Safari 13.1+, Edge 80+)
\ No newline at end of file
diff --git a/examples/simple-marker/data/camera_para.dat b/examples/simple-marker/data/camera_para.dat
new file mode 100644
index 0000000..67102ed
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diff --git a/examples/simple-marker/data/patt.hiro b/examples/simple-marker/data/patt.hiro
new file mode 100644
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+
diff --git a/examples/simple-marker/index.html b/examples/simple-marker/index.html
new file mode 100644
index 0000000..51c4f46
--- /dev/null
+++ b/examples/simple-marker/index.html
@@ -0,0 +1,160 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="utf-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1" />
+    <title>Simple Marker Example - ARToolKit Plugin</title>
+    <style>
+        body { font-family: Arial, sans-serif; max-width: 900px; margin: 40px auto; padding: 20px; }
+        h1 { color: #333; }
+        .status { padding: 10px; margin: 10px 0; border-radius: 4px; background-color: #f0f0f0; }
+        .status.success { background-color: #d4edda; color: #155724; }
+        .status.error { background-color: #f8d7da; color: #721c24; }
+        .log { background:#f5f5f5; padding:10px; border-radius:4px; max-height:300px; overflow-y:auto; font-family:monospace; font-size:12px; }
+        button { padding:10px 16px; margin:6px; cursor:pointer; border:none; border-radius:4px; background:#007bff; color:white; }
+        button[disabled] { background:#999; cursor:default; }
+        #video { display:none; }
+    </style>
+</head>
+<body>
+<h1>Simple Marker Example</h1>
+<p>This example demonstrates loading a pattern marker using the ARToolKit plugin.</p>
+
+<div id="status" class="status">Initializing...</div>
+<div>
+    <button id="startCamBtn">Start Camera</button>
+    <button id="loadMarkerBtn" disabled>Load Marker</button>
+</div>
+
+<h3>Event Log:</h3>
+<div id="log" class="log"></div>
+
+<video id="video" autoplay playsinline></video>
+
+<script type="module">
+    import { ArtoolkitPlugin } from '../../src/plugin.js';
+
+    const statusEl = document.getElementById('status');
+    const logEl = document.getElementById('log');
+    const loadMarkerBtn = document.getElementById('loadMarkerBtn');
+    const startCamBtn = document.getElementById('startCamBtn');
+    const video = document.getElementById('video');
+
+    function log(message) {
+        const ts = new Date().toISOString();
+        const el = document.createElement('div');
+        el.textContent = `[${ts}] ${message}`;
+        logEl.appendChild(el);
+        logEl.scrollTop = logEl.scrollHeight;
+        console.log(message);
+    }
+
+    function setStatus(msg, type = 'normal') {
+        statusEl.textContent = msg;
+        statusEl.className = 'status';
+        if (type === 'success') statusEl.classList.add('success');
+        if (type === 'error') statusEl.classList.add('error');
+    }
+
+    // Minimal eventBus / core used by the plugin
+    const eventBus = {
+        _h: new Map(),
+        on(e, h) { if (!this._h.has(e)) this._h.set(e, []); this._h.get(e).push(h); },
+        off(e, h) { if (!this._h.has(e)) return; this._h.set(e, this._h.get(e).filter(x => x !== h)); },
+        emit(e, p) { (this._h.get(e) || []).forEach(fn => fn(p)); }
+    };
+    const core = { eventBus };
+
+    let plugin;
+
+    async function start() {
+        try {
+            log('Creating ArtoolkitPlugin instance...');
+            plugin = new ArtoolkitPlugin({ worker: true,
+                // ESM bundle path served by your dev server
+                artoolkitModuleUrl: '../../node_modules/@ar-js-org/artoolkit5-js/dist/ARToolkit.js',
+                cameraParametersUrl: "../../examples/simple-marker/data/camera_para.dat"
+            });
+            await plugin.init(core);
+            await plugin.enable();
+
+            // wire event handlers
+            eventBus.on('ar:workerReady', () => {
+                log('Worker ready');
+                setStatus('Worker ready. Start camera and then load marker.', 'success');
+                loadMarkerBtn.disabled = false;
+            });
+
+            eventBus.on('ar:markerFound', d => log(`markerFound: ${JSON.stringify(d)}`));
+            eventBus.on('ar:markerUpdated', d => log(`markerUpdated: ${JSON.stringify(d)}`));
+            eventBus.on('ar:markerLost', d => log(`markerLost: ${JSON.stringify(d)}`));
+            eventBus.on('ar:workerError', e => {
+                log(`workerError: ${JSON.stringify(e)}`);
+                setStatus('Worker error (see console)', 'error');
+            });
+            eventBus.on('ar:getMarker', (e) => console.log('[example] ar:getMarker', e));
+
+            // Also log detectionResult from plugin console.log (plugin logs detectionResult)
+            setStatus('Plugin initialized. Waiting for worker...', 'normal');
+        } catch (err) {
+            log('Init error: ' + (err && err.message ? err.message : err));
+            setStatus('Initialization error', 'error');
+        }
+    }
+
+    // Start camera when user clicks (to ensure user gesture)
+    startCamBtn.addEventListener('click', async () => {
+        try {
+            startCamBtn.disabled = true;
+            log('Starting camera...');
+            video.srcObject = await navigator.mediaDevices.getUserMedia({ video: { facingMode: 'environment' } });
+            // emit engine:update frames using createImageBitmap
+            const canvas = document.createElement('canvas');
+            const ctx = canvas.getContext('2d');
+            let id = 0;
+
+            async function tick() {
+                if (video.videoWidth === 0) { requestAnimationFrame(tick); return; }
+                canvas.width = video.videoWidth;
+                canvas.height = video.videoHeight;
+                ctx.drawImage(video, 0, 0);
+                const imageBitmap = await createImageBitmap(canvas);
+                // emit engine:update; plugin will transfer the ImageBitmap to the worker
+                eventBus.emit('engine:update', { id: ++id, imageBitmap, width: canvas.width, height: canvas.height });
+                requestAnimationFrame(tick);
+            }
+            requestAnimationFrame(tick);
+            log('Camera started.');
+            setStatus('Camera started. You can now load the marker.', 'success');
+        } catch (err) {
+            log('Camera error: ' + (err && err.message ? err.message : err));
+            setStatus('Camera error', 'error');
+            startCamBtn.disabled = false;
+        }
+    });
+
+    // Load marker button uses plugin.loadMarker(...)
+    loadMarkerBtn.addEventListener('click', async () => {
+        if (!plugin) return log('Plugin not ready');
+        loadMarkerBtn.disabled = true;
+        setStatus('Loading marker...', 'normal');
+        try {
+            // Use absolute/site-root-relative URL so worker can fetch it.
+            const patternUrl = '/examples/simple-marker/data/patt.hiro';
+            log(`Requesting loadMarker for ${patternUrl}`);
+            const res = await plugin.loadMarker(patternUrl, 1);
+            log(`loadMarker result: ${JSON.stringify(res)}`);
+            setStatus(`Marker loaded (id=${res.markerId})`, 'success');
+        } catch (err) {
+            log('loadMarker failed: ' + (err && err.message ? err.message : err));
+            setStatus('Failed to load marker', 'error');
+        } finally {
+            loadMarkerBtn.disabled = false;
+        }
+    });
+
+    // initialize plugin but don't start camera automatically
+    start();
+</script>
+</body>
+</html>
\ No newline at end of file
diff --git a/package-lock.json b/package-lock.json
index f8a30f2..e781d0c 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -8,12 +8,34 @@
       "name": "@ar-js-org/arjs-plugin-artoolkit",
       "version": "0.1.0",
       "license": "MIT",
+      "dependencies": {
+        "@ar-js-org/artoolkit5-js": "^0.3.2"
+      },
       "devDependencies": {
         "eslint": "^9.39.0",
         "husky": "^9.1.7",
         "vitest": "^4.0.6"
       }
     },
+    "node_modules/@ar-js-org/artoolkit5-js": {
+      "version": "0.3.2",
+      "resolved": "https://registry.npmjs.org/@ar-js-org/artoolkit5-js/-/artoolkit5-js-0.3.2.tgz",
+      "integrity": "sha512-8VVRIwpxwGW9WWrZ1hdtENXS7BrgH9hYfqjf8GYd6VME802zNAvpgkVOyyJGIwQBI8LKn4CVSYVcKLqxDSn/8Q==",
+      "license": "LGPL-3.0",
+      "dependencies": {
+        "@babel/runtime": "7.28.4",
+        "axios": "1.13.1"
+      }
+    },
+    "node_modules/@babel/runtime": {
+      "version": "7.28.4",
+      "resolved": "https://registry.npmjs.org/@babel/runtime/-/runtime-7.28.4.tgz",
+      "integrity": "sha512-Q/N6JNWvIvPnLDvjlE1OUBLPQHH6l3CltCEsHIujp45zQUSSh8K+gHnaEX45yAT1nyngnINhvWtzN+Nb9D8RAQ==",
+      "license": "MIT",
+      "engines": {
+        "node": ">=6.9.0"
+      }
+    },
     "node_modules/@esbuild/aix-ppc64": {
       "version": "0.25.11",
       "resolved": "https://registry.npmjs.org/@esbuild/aix-ppc64/-/aix-ppc64-0.25.11.tgz",
@@ -1190,6 +1212,23 @@
         "node": ">=12"
       }
     },
+    "node_modules/asynckit": {
+      "version": "0.4.0",
+      "resolved": "https://registry.npmjs.org/asynckit/-/asynckit-0.4.0.tgz",
+      "integrity": "sha512-Oei9OH4tRh0YqU3GxhX79dM/mwVgvbZJaSNaRk+bshkj0S5cfHcgYakreBjrHwatXKbz+IoIdYLxrKim2MjW0Q==",
+      "license": "MIT"
+    },
+    "node_modules/axios": {
+      "version": "1.13.1",
+      "resolved": "https://registry.npmjs.org/axios/-/axios-1.13.1.tgz",
+      "integrity": "sha512-hU4EGxxt+j7TQijx1oYdAjw4xuIp1wRQSsbMFwSthCWeBQur1eF+qJ5iQ5sN3Tw8YRzQNKb8jszgBdMDVqwJcw==",
+      "license": "MIT",
+      "dependencies": {
+        "follow-redirects": "^1.15.6",
+        "form-data": "^4.0.4",
+        "proxy-from-env": "^1.1.0"
+      }
+    },
     "node_modules/balanced-match": {
       "version": "1.0.2",
       "resolved": "https://registry.npmjs.org/balanced-match/-/balanced-match-1.0.2.tgz",
@@ -1208,6 +1247,19 @@
         "concat-map": "0.0.1"
       }
     },
+    "node_modules/call-bind-apply-helpers": {
+      "version": "1.0.2",
+      "resolved": "https://registry.npmjs.org/call-bind-apply-helpers/-/call-bind-apply-helpers-1.0.2.tgz",
+      "integrity": "sha512-Sp1ablJ0ivDkSzjcaJdxEunN5/XvksFJ2sMBFfq6x0ryhQV/2b/KwFe21cMpmHtPOSij8K99/wSfoEuTObmuMQ==",
+      "license": "MIT",
+      "dependencies": {
+        "es-errors": "^1.3.0",
+        "function-bind": "^1.1.2"
+      },
+      "engines": {
+        "node": ">= 0.4"
+      }
+    },
     "node_modules/callsites": {
       "version": "3.1.0",
       "resolved": "https://registry.npmjs.org/callsites/-/callsites-3.1.0.tgz",
@@ -1265,6 +1317,18 @@
       "dev": true,
       "license": "MIT"
     },
+    "node_modules/combined-stream": {
+      "version": "1.0.8",
+      "resolved": "https://registry.npmjs.org/combined-stream/-/combined-stream-1.0.8.tgz",
+      "integrity": "sha512-FQN4MRfuJeHf7cBbBMJFXhKSDq+2kAArBlmRBvcvFE5BB1HZKXtSFASDhdlz9zOYwxh8lDdnvmMOe/+5cdoEdg==",
+      "license": "MIT",
+      "dependencies": {
+        "delayed-stream": "~1.0.0"
+      },
+      "engines": {
+        "node": ">= 0.8"
+      }
+    },
     "node_modules/concat-map": {
       "version": "0.0.1",
       "resolved": "https://registry.npmjs.org/concat-map/-/concat-map-0.0.1.tgz",
@@ -1312,6 +1376,47 @@
       "dev": true,
       "license": "MIT"
     },
+    "node_modules/delayed-stream": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmjs.org/delayed-stream/-/delayed-stream-1.0.0.tgz",
+      "integrity": "sha512-ZySD7Nf91aLB0RxL4KGrKHBXl7Eds1DAmEdcoVawXnLD7SDhpNgtuII2aAkg7a7QS41jxPSZ17p4VdGnMHk3MQ==",
+      "license": "MIT",
+      "engines": {
+        "node": ">=0.4.0"
+      }
+    },
+    "node_modules/dunder-proto": {
+      "version": "1.0.1",
+      "resolved": "https://registry.npmjs.org/dunder-proto/-/dunder-proto-1.0.1.tgz",
+      "integrity": "sha512-KIN/nDJBQRcXw0MLVhZE9iQHmG68qAVIBg9CqmUYjmQIhgij9U5MFvrqkUL5FbtyyzZuOeOt0zdeRe4UY7ct+A==",
+      "license": "MIT",
+      "dependencies": {
+        "call-bind-apply-helpers": "^1.0.1",
+        "es-errors": "^1.3.0",
+        "gopd": "^1.2.0"
+      },
+      "engines": {
+        "node": ">= 0.4"
+      }
+    },
+    "node_modules/es-define-property": {
+      "version": "1.0.1",
+      "resolved": "https://registry.npmjs.org/es-define-property/-/es-define-property-1.0.1.tgz",
+      "integrity": "sha512-e3nRfgfUZ4rNGL232gUgX06QNyyez04KdjFrF+LTRoOXmrOgFKDg4BCdsjW8EnT69eqdYGmRpJwiPVYNrCaW3g==",
+      "license": "MIT",
+      "engines": {
+        "node": ">= 0.4"
+      }
+    },
+    "node_modules/es-errors": {
+      "version": "1.3.0",
+      "resolved": "https://registry.npmjs.org/es-errors/-/es-errors-1.3.0.tgz",
+      "integrity": "sha512-Zf5H2Kxt2xjTvbJvP2ZWLEICxA6j+hAmMzIlypy4xcBg1vKVnx89Wy0GbS+kf5cwCVFFzdCFh2XSCFNULS6csw==",
+      "license": "MIT",
+      "engines": {
+        "node": ">= 0.4"
+      }
+    },
     "node_modules/es-module-lexer": {
       "version": "1.7.0",
       "resolved": "https://registry.npmjs.org/es-module-lexer/-/es-module-lexer-1.7.0.tgz",
@@ -1319,6 +1424,33 @@
       "dev": true,
       "license": "MIT"
     },
+    "node_modules/es-object-atoms": {
+      "version": "1.1.1",
+      "resolved": "https://registry.npmjs.org/es-object-atoms/-/es-object-atoms-1.1.1.tgz",
+      "integrity": "sha512-FGgH2h8zKNim9ljj7dankFPcICIK9Cp5bm+c2gQSYePhpaG5+esrLODihIorn+Pe6FGJzWhXQotPv73jTaldXA==",
+      "license": "MIT",
+      "dependencies": {
+        "es-errors": "^1.3.0"
+      },
+      "engines": {
+        "node": ">= 0.4"
+      }
+    },
+    "node_modules/es-set-tostringtag": {
+      "version": "2.1.0",
+      "resolved": "https://registry.npmjs.org/es-set-tostringtag/-/es-set-tostringtag-2.1.0.tgz",
+      "integrity": "sha512-j6vWzfrGVfyXxge+O0x5sh6cvxAog0a/4Rdd2K36zCMV5eJ+/+tOAngRO8cODMNWbVRdVlmGZQL2YS3yR8bIUA==",
+      "license": "MIT",
+      "dependencies": {
+        "es-errors": "^1.3.0",
+        "get-intrinsic": "^1.2.6",
+        "has-tostringtag": "^1.0.2",
+        "hasown": "^2.0.2"
+      },
+      "engines": {
+        "node": ">= 0.4"
+      }
+    },
     "node_modules/esbuild": {
       "version": "0.25.11",
       "resolved": "https://registry.npmjs.org/esbuild/-/esbuild-0.25.11.tgz",
@@ -1638,6 +1770,42 @@
       "dev": true,
       "license": "ISC"
     },
+    "node_modules/follow-redirects": {
+      "version": "1.15.11",
+      "resolved": "https://registry.npmjs.org/follow-redirects/-/follow-redirects-1.15.11.tgz",
+      "integrity": "sha512-deG2P0JfjrTxl50XGCDyfI97ZGVCxIpfKYmfyrQ54n5FO/0gfIES8C/Psl6kWVDolizcaaxZJnTS0QSMxvnsBQ==",
+      "funding": [
+        {
+          "type": "individual",
+          "url": "https://github.com/sponsors/RubenVerborgh"
+        }
+      ],
+      "license": "MIT",
+      "engines": {
+        "node": ">=4.0"
+      },
+      "peerDependenciesMeta": {
+        "debug": {
+          "optional": true
+        }
+      }
+    },
+    "node_modules/form-data": {
+      "version": "4.0.4",
+      "resolved": "https://registry.npmjs.org/form-data/-/form-data-4.0.4.tgz",
+      "integrity": "sha512-KrGhL9Q4zjj0kiUt5OO4Mr/A/jlI2jDYs5eHBpYHPcBEVSiipAvn2Ko2HnPe20rmcuuvMHNdZFp+4IlGTMF0Ow==",
+      "license": "MIT",
+      "dependencies": {
+        "asynckit": "^0.4.0",
+        "combined-stream": "^1.0.8",
+        "es-set-tostringtag": "^2.1.0",
+        "hasown": "^2.0.2",
+        "mime-types": "^2.1.12"
+      },
+      "engines": {
+        "node": ">= 6"
+      }
+    },
     "node_modules/fsevents": {
       "version": "2.3.3",
       "resolved": "https://registry.npmjs.org/fsevents/-/fsevents-2.3.3.tgz",
@@ -1653,6 +1821,52 @@
         "node": "^8.16.0 || ^10.6.0 || >=11.0.0"
       }
     },
+    "node_modules/function-bind": {
+      "version": "1.1.2",
+      "resolved": "https://registry.npmjs.org/function-bind/-/function-bind-1.1.2.tgz",
+      "integrity": "sha512-7XHNxH7qX9xG5mIwxkhumTox/MIRNcOgDrxWsMt2pAr23WHp6MrRlN7FBSFpCpr+oVO0F744iUgR82nJMfG2SA==",
+      "license": "MIT",
+      "funding": {
+        "url": "https://github.com/sponsors/ljharb"
+      }
+    },
+    "node_modules/get-intrinsic": {
+      "version": "1.3.0",
+      "resolved": "https://registry.npmjs.org/get-intrinsic/-/get-intrinsic-1.3.0.tgz",
+      "integrity": "sha512-9fSjSaos/fRIVIp+xSJlE6lfwhES7LNtKaCBIamHsjr2na1BiABJPo0mOjjz8GJDURarmCPGqaiVg5mfjb98CQ==",
+      "license": "MIT",
+      "dependencies": {
+        "call-bind-apply-helpers": "^1.0.2",
+        "es-define-property": "^1.0.1",
+        "es-errors": "^1.3.0",
+        "es-object-atoms": "^1.1.1",
+        "function-bind": "^1.1.2",
+        "get-proto": "^1.0.1",
+        "gopd": "^1.2.0",
+        "has-symbols": "^1.1.0",
+        "hasown": "^2.0.2",
+        "math-intrinsics": "^1.1.0"
+      },
+      "engines": {
+        "node": ">= 0.4"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/ljharb"
+      }
+    },
+    "node_modules/get-proto": {
+      "version": "1.0.1",
+      "resolved": "https://registry.npmjs.org/get-proto/-/get-proto-1.0.1.tgz",
+      "integrity": "sha512-sTSfBjoXBp89JvIKIefqw7U2CCebsc74kiY6awiGogKtoSGbgjYE/G/+l9sF3MWFPNc9IcoOC4ODfKHfxFmp0g==",
+      "license": "MIT",
+      "dependencies": {
+        "dunder-proto": "^1.0.1",
+        "es-object-atoms": "^1.0.0"
+      },
+      "engines": {
+        "node": ">= 0.4"
+      }
+    },
     "node_modules/glob-parent": {
       "version": "6.0.2",
       "resolved": "https://registry.npmjs.org/glob-parent/-/glob-parent-6.0.2.tgz",
@@ -1679,6 +1893,18 @@
         "url": "https://github.com/sponsors/sindresorhus"
       }
     },
+    "node_modules/gopd": {
+      "version": "1.2.0",
+      "resolved": "https://registry.npmjs.org/gopd/-/gopd-1.2.0.tgz",
+      "integrity": "sha512-ZUKRh6/kUFoAiTAtTYPZJ3hw9wNxx+BIBOijnlG9PnrJsCcSjs1wyyD6vJpaYtgnzDrKYRSqf3OO6Rfa93xsRg==",
+      "license": "MIT",
+      "engines": {
+        "node": ">= 0.4"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/ljharb"
+      }
+    },
     "node_modules/has-flag": {
       "version": "4.0.0",
       "resolved": "https://registry.npmjs.org/has-flag/-/has-flag-4.0.0.tgz",
@@ -1689,6 +1915,45 @@
         "node": ">=8"
       }
     },
+    "node_modules/has-symbols": {
+      "version": "1.1.0",
+      "resolved": "https://registry.npmjs.org/has-symbols/-/has-symbols-1.1.0.tgz",
+      "integrity": "sha512-1cDNdwJ2Jaohmb3sg4OmKaMBwuC48sYni5HUw2DvsC8LjGTLK9h+eb1X6RyuOHe4hT0ULCW68iomhjUoKUqlPQ==",
+      "license": "MIT",
+      "engines": {
+        "node": ">= 0.4"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/ljharb"
+      }
+    },
+    "node_modules/has-tostringtag": {
+      "version": "1.0.2",
+      "resolved": "https://registry.npmjs.org/has-tostringtag/-/has-tostringtag-1.0.2.tgz",
+      "integrity": "sha512-NqADB8VjPFLM2V0VvHUewwwsw0ZWBaIdgo+ieHtK3hasLz4qeCRjYcqfB6AQrBggRKppKF8L52/VqdVsO47Dlw==",
+      "license": "MIT",
+      "dependencies": {
+        "has-symbols": "^1.0.3"
+      },
+      "engines": {
+        "node": ">= 0.4"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/ljharb"
+      }
+    },
+    "node_modules/hasown": {
+      "version": "2.0.2",
+      "resolved": "https://registry.npmjs.org/hasown/-/hasown-2.0.2.tgz",
+      "integrity": "sha512-0hJU9SCPvmMzIBdZFqNPXWa6dqh7WdH0cII9y+CyS8rG3nL48Bclra9HmKhVVUHyPWNH5Y7xDwAB7bfgSjkUMQ==",
+      "license": "MIT",
+      "dependencies": {
+        "function-bind": "^1.1.2"
+      },
+      "engines": {
+        "node": ">= 0.4"
+      }
+    },
     "node_modules/husky": {
       "version": "9.1.7",
       "resolved": "https://registry.npmjs.org/husky/-/husky-9.1.7.tgz",
@@ -1863,6 +2128,36 @@
         "@jridgewell/sourcemap-codec": "^1.5.5"
       }
     },
+    "node_modules/math-intrinsics": {
+      "version": "1.1.0",
+      "resolved": "https://registry.npmjs.org/math-intrinsics/-/math-intrinsics-1.1.0.tgz",
+      "integrity": "sha512-/IXtbwEk5HTPyEwyKX6hGkYXxM9nbj64B+ilVJnC/R6B0pH5G4V3b0pVbL7DBj4tkhBAppbQUlf6F6Xl9LHu1g==",
+      "license": "MIT",
+      "engines": {
+        "node": ">= 0.4"
+      }
+    },
+    "node_modules/mime-db": {
+      "version": "1.52.0",
+      "resolved": "https://registry.npmjs.org/mime-db/-/mime-db-1.52.0.tgz",
+      "integrity": "sha512-sPU4uV7dYlvtWJxwwxHD0PuihVNiE7TyAbQ5SWxDCB9mUYvOgroQOwYQQOKPJ8CIbE+1ETVlOoK1UC2nU3gYvg==",
+      "license": "MIT",
+      "engines": {
+        "node": ">= 0.6"
+      }
+    },
+    "node_modules/mime-types": {
+      "version": "2.1.35",
+      "resolved": "https://registry.npmjs.org/mime-types/-/mime-types-2.1.35.tgz",
+      "integrity": "sha512-ZDY+bPm5zTTF+YpCrAU9nK0UgICYPT0QtT1NZWFv4s++TNkcgVaT0g6+4R2uI4MjQjzysHB1zxuWL50hzaeXiw==",
+      "license": "MIT",
+      "dependencies": {
+        "mime-db": "1.52.0"
+      },
+      "engines": {
+        "node": ">= 0.6"
+      }
+    },
     "node_modules/minimatch": {
       "version": "3.1.2",
       "resolved": "https://registry.npmjs.org/minimatch/-/minimatch-3.1.2.tgz",
@@ -2058,6 +2353,12 @@
         "node": ">= 0.8.0"
       }
     },
+    "node_modules/proxy-from-env": {
+      "version": "1.1.0",
+      "resolved": "https://registry.npmjs.org/proxy-from-env/-/proxy-from-env-1.1.0.tgz",
+      "integrity": "sha512-D+zkORCbA9f1tdWRK0RaCR3GPv50cMxcrz4X8k5LTSUD1Dkw47mKJEZQNunItRTkWwgtaUSo1RVFRIG9ZXiFYg==",
+      "license": "MIT"
+    },
     "node_modules/punycode": {
       "version": "2.3.1",
       "resolved": "https://registry.npmjs.org/punycode/-/punycode-2.3.1.tgz",
diff --git a/package.json b/package.json
index fba0fc3..41ded10 100644
--- a/package.json
+++ b/package.json
@@ -23,5 +23,8 @@
     "eslint": "^9.39.0",
     "husky": "^9.1.7",
     "vitest": "^4.0.6"
+  },
+  "dependencies": {
+    "@ar-js-org/artoolkit5-js": "^0.3.2"
   }
 }
diff --git a/src/plugin.js b/src/plugin.js
index 657f042..66aeecb 100644
--- a/src/plugin.js
+++ b/src/plugin.js
@@ -35,6 +35,10 @@ export class ArtoolkitPlugin {
 
         // Worker enabled toggle
         this.workerEnabled = options.worker !== false; // default true
+        
+        // Pending loadMarker requests: Map<requestId, { resolve, reject }>
+        this._pendingMarkerLoads = new Map();
+        this._nextLoadRequestId = 0;
     }
 
     async init(core) {
@@ -153,7 +157,14 @@ export class ArtoolkitPlugin {
 
         // If worker supports postMessage init, send init
         try {
-            this._worker.postMessage?.({ type: 'init' });
+            this._worker.postMessage?.({
+                type: 'init',
+                payload: {
+                    moduleUrl: this.options.artoolkitModuleUrl || null,
+                    cameraParametersUrl: this.options.cameraParametersUrl || null,
+                    wasmBaseUrl: this.options.wasmBaseUrl || null
+                }
+            });
         } catch (e) {
             // ignore
         }
@@ -188,6 +199,7 @@ export class ArtoolkitPlugin {
         if (type === 'ready') {
             this.core?.eventBus?.emit('ar:workerReady', {});
         } else if (type === 'detectionResult') {
+            console.log('[Plugin] Received detectionResult:', payload);
             if (!payload || !Array.isArray(payload.detections)) return;
             for (const d of payload.detections) {
                 const id = d.id;
@@ -207,6 +219,25 @@ export class ArtoolkitPlugin {
                     this.core.eventBus.emit('ar:markerUpdated', { id, poseMatrix, confidence, corners, timestamp: now });
                 }
             }
+        } else if (type === 'getMarker') {
+            // Forward AR.js-style getMarker payload (emitted by the worker) to the app/event bus
+            try { console.log('[Plugin] getMarker', payload); } catch (_) {}
+            this.core?.eventBus?.emit('ar:getMarker', payload);
+        } else if (type === 'loadMarkerResult') {
+            console.log('[Plugin] Received loadMarkerResult:', payload);
+            const { requestId, ok, error, markerId, size } = payload || {};
+            
+            if (requestId !== undefined) {
+                const pending = this._pendingMarkerLoads.get(requestId);
+                if (pending) {
+                    this._pendingMarkerLoads.delete(requestId);
+                    if (ok) {
+                        pending.resolve({ markerId, size });
+                    } else {
+                        pending.reject(new Error(error || 'Failed to load marker'));
+                    }
+                }
+            }
         } else if (type === 'error') {
             console.error('Artoolkit worker error', payload);
             this.core?.eventBus?.emit('ar:workerError', payload);
@@ -230,4 +261,42 @@ export class ArtoolkitPlugin {
     getMarkerState(markerId) {
         return this._markers.get(markerId) || null;
     }
+
+    /**
+     * Load a pattern marker from a URL
+     * @param {string} patternUrl - URL to the pattern file (absolute or repo-relative)
+     * @param {number} size - Size of the marker in world units (default: 1)
+     * @returns {Promise<{markerId: number, size: number}>} - Resolves with marker info when loaded
+     */
+    async loadMarker(patternUrl, size = 1) {
+        if (!this._worker) {
+            throw new Error('Worker not available. Ensure plugin is enabled and worker is running.');
+        }
+        
+        console.log(`[Plugin] Loading marker: ${patternUrl} with size ${size}`);
+        
+        return new Promise((resolve, reject) => {
+            const requestId = this._nextLoadRequestId++;
+            this._pendingMarkerLoads.set(requestId, { resolve, reject });
+            
+            // Send loadMarker message to worker
+            try {
+                this._worker.postMessage({
+                    type: 'loadMarker',
+                    payload: { patternUrl, size, requestId }
+                });
+            } catch (err) {
+                this._pendingMarkerLoads.delete(requestId);
+                reject(new Error(`Failed to send loadMarker message: ${err.message}`));
+            }
+            
+            // Set a timeout to prevent hanging promises
+            setTimeout(() => {
+                if (this._pendingMarkerLoads.has(requestId)) {
+                    this._pendingMarkerLoads.delete(requestId);
+                    reject(new Error('loadMarker request timed out'));
+                }
+            }, 10000); // 10 second timeout
+        });
+    }
 }
\ No newline at end of file
diff --git a/src/worker/worker.js b/src/worker/worker.js
index 0b0cab7..8ea9f27 100644
--- a/src/worker/worker.js
+++ b/src/worker/worker.js
@@ -1,76 +1,306 @@
-// Cross-platform worker stub (browser Worker and Node worker_threads)
-// Accepts ImageBitmap in browser and cleans it up after use.
-// In Node, it accepts the lightweight frame messages (frameId).
+// Cross-platform worker integrating ARToolKit in browser Workers.
+// - Browser: processes ImageBitmap → OffscreenCanvas → ARToolKit.process(canvas)
+// - Node: keeps stub behavior if needed
 let isNodeWorker = false;
 let parent = null;
 
-try {
-    const wt = await import('node:worker_threads').catch(() => null);
-    if (wt && wt.parentPort) {
-        isNodeWorker = true;
-        parent = wt.parentPort;
+let arController = null;
+let arControllerInitialized = false;
+let getMarkerForwarderAttached = false;
+
+let offscreenCanvas = null;
+let offscreenCtx = null;
+let canvasW = 0;
+let canvasH = 0;
+
+// Marker and filtering state
+const loadedMarkers = new Map();    // patternUrl -> markerId
+const loadingMarkers = new Map();   // patternUrl -> Promise<markerId>
+const trackedPatternIds = new Set(); // Set<number>
+let PATTERN_MARKER_TYPE = 0;        // will be read from ARToolkit if available
+let MIN_CONFIDENCE = 0.6;           // configurable via init payload
+
+// Init backoff state
+let initInProgress = null;
+let initFailCount = 0;
+let initFailedUntil = 0;
+
+// Init-time options (overridable from main thread)
+let INIT_OPTS = {
+    moduleUrl: null,
+    cameraParametersUrl: null,
+    wasmBaseUrl: null,
+    minConfidence: null
+};
+
+if (typeof self === 'undefined') {
+    try {
+        const wt = await import('node:worker_threads').catch(() => null);
+        if (wt && wt.parentPort) {
+            isNodeWorker = true;
+            parent = wt.parentPort;
+        }
+    } catch {
+        isNodeWorker = false;
+        parent = null;
     }
-} catch (e) {
-    isNodeWorker = false;
-    parent = null;
 }
 
 function onMessage(fn) {
-    if (isNodeWorker) {
-        parent.on('message', (msg) => fn(msg));
-    } else {
-        self.addEventListener('message', (ev) => fn(ev.data));
-    }
+    if (isNodeWorker) parent.on('message', (msg) => fn(msg));
+    else self.addEventListener('message', (ev) => fn(ev.data));
 }
 
 function sendMessage(msg) {
-    if (isNodeWorker) {
-        parent.postMessage(msg);
-    } else {
-        self.postMessage(msg);
+    if (isNodeWorker) parent.postMessage(msg);
+    else self.postMessage(msg);
+}
+
+// Serialize AR.js-style getMarker event into a transferable payload
+function serializeGetMarkerEvent(ev) {
+    try {
+        const data = ev?.data || {};
+        const marker = data.marker || {};
+        const matrix = Array.isArray(data.matrix) ? data.matrix.slice(0, 16)
+            : (data.matrix && data.matrix.length ? Array.from(data.matrix).slice(0, 16) : null);
+        const vertex = marker.vertex
+            ? (Array.isArray(marker.vertex) ? marker.vertex.slice() : null)
+            : (marker.corners ? marker.corners.flatMap(c => [c.x ?? c[0], c.y ?? c[1]]) : null);
+
+        return {
+            type: data.type, // e.g., ARToolkit.PATTERN_MARKER
+            matrix,
+            marker: {
+                idPatt: marker.idPatt ?? marker.patternId ?? marker.pattern_id ?? null,
+                idMatrix: marker.idMatrix ?? null,
+                cfPatt: marker.cfPatt ?? marker.confidence ?? null,
+                cfMatrix: marker.cfMatrix ?? null,
+                vertex: vertex || null
+            }
+        };
+    } catch {
+        return { type: null, matrix: null, marker: {} };
     }
 }
 
+function shouldForwardGetMarker(event) {
+    const data = event?.data || {};
+    const type = data.type;
+    const marker = data.marker || {};
+    const id = marker.idPatt ?? marker.patternId ?? marker.pattern_id ?? null;
+    const conf = marker.cfPatt ?? marker.confidence ?? 0;
+    const matrix = data.matrix;
+
+    // Type must be PATTERN_MARKER (fallback numeric 0 if constants not available)
+    if (type !== PATTERN_MARKER_TYPE) return false;
+
+    // Confidence gate
+    if (!(Number.isFinite(conf) && conf >= MIN_CONFIDENCE)) return false;
+
+    // Matrix must exist with at least 16 values
+    const m = Array.isArray(matrix) ? matrix : (matrix && Array.from(matrix)) || null;
+    if (!m || m.length < 16) return false;
+
+    // If we have tracked IDs, only forward those IDs
+    if (trackedPatternIds.size && id != null && !trackedPatternIds.has(id)) return false;
+
+    return true;
+}
+
+function attachGetMarkerForwarder() {
+    if (!arController || typeof arController.addEventListener !== 'function' || getMarkerForwarderAttached) return;
+    arController.addEventListener('getMarker', (event) => {
+        if (!shouldForwardGetMarker(event)) return;
+        const payload = serializeGetMarkerEvent(event);
+        try { console.log('[Worker] getMarker (filtered)', payload); } catch {}
+        sendMessage({ type: 'getMarker', payload });
+    });
+    getMarkerForwarderAttached = true;
+}
+
+// Guarded init with backoff
+async function initArtoolkit(width = 640, height = 480) {
+    if (arControllerInitialized) return true;
+
+    const now = Date.now();
+    if (now < initFailedUntil) {
+        const waitMs = initFailedUntil - now;
+        console.warn('[Worker] initArtoolkit skipped due to backoff (ms):', waitMs);
+        return false;
+    }
+
+    if (initInProgress) {
+        try {
+            await initInProgress;
+            return arControllerInitialized;
+        } catch {
+            return false;
+        }
+    }
+
+    initInProgress = (async () => {
+        try {
+            const jsartoolkit = await (async () => {
+                if (INIT_OPTS.moduleUrl) {
+                    console.log('[Worker] Loading artoolkit from moduleUrl:', INIT_OPTS.moduleUrl);
+                    return await import(INIT_OPTS.moduleUrl);
+                }
+                // If your environment supports bare import (import map/bundler), this will work:
+                return await import('@ar-js-org/artoolkit5-js');
+            })();
+
+
+            // Read the constant if available; else keep default 0
+            if (ARToolkit && typeof ARToolkit.PATTERN_MARKER === 'number') {
+                PATTERN_MARKER_TYPE = ARToolkit.PATTERN_MARKER;
+            }
+
+            if (INIT_OPTS.wasmBaseUrl && ARController) {
+                try {
+                    ARController.baseURL = INIT_OPTS.wasmBaseUrl.endsWith('/') ? INIT_OPTS.wasmBaseUrl : INIT_OPTS.wasmBaseUrl + '/';
+                } catch {}
+            }
+
+            if (typeof INIT_OPTS.minConfidence === 'number') {
+                MIN_CONFIDENCE = INIT_OPTS.minConfidence;
+            }
+
+            const camUrl = INIT_OPTS.cameraParametersUrl
+                || 'https://raw.githack.com/AR-js-org/AR.js/master/data/data/camera_para.dat';
+
+            console.log('[Worker] ARToolKit init', { width, height, camUrl, minConfidence: MIN_CONFIDENCE, patternType: PATTERN_MARKER_TYPE });
+            arController = await ARToolkit.ARController.initWithDimensions(width, height, camUrl, {});
+            arControllerInitialized = !!arController;
+            console.log('[Worker] ARToolKit initialized:', arControllerInitialized);
+
+            if (!arControllerInitialized) throw new Error('ARController.initWithDimensions returned falsy controller');
+
+            attachGetMarkerForwarder();
+
+            initFailCount = 0;
+            initFailedUntil = 0;
+        } catch (err) {
+            console.error('[Worker] ARToolKit init failed:', err);
+            arController = null;
+            arControllerInitialized = false;
+
+            initFailCount = Math.min(initFailCount + 1, 6);
+            const delay = Math.min(30000, 1000 * Math.pow(2, initFailCount));
+            initFailedUntil = Date.now() + delay;
+
+            sendMessage({ type: 'error', payload: { message: `ARToolKit init failed (${err?.message || err}). Retrying in ${delay}ms.` } });
+            throw err;
+        } finally {
+            initInProgress = null;
+        }
+    })();
+
+    try {
+        await initInProgress;
+    } catch {}
+    return arControllerInitialized;
+}
+
+// Dedupe marker loading by URL and record tracked IDs
+async function loadPatternOnce(patternUrl) {
+    if (loadedMarkers.has(patternUrl)) return loadedMarkers.get(patternUrl);
+    if (loadingMarkers.has(patternUrl)) return loadingMarkers.get(patternUrl);
+
+    const p = (async () => {
+        const id = await arController.loadMarker(patternUrl);
+        loadedMarkers.set(patternUrl, id);
+        trackedPatternIds.add(id);
+        loadingMarkers.delete(patternUrl);
+        return id;
+    })().catch((e) => {
+        loadingMarkers.delete(patternUrl);
+        throw e;
+    });
+
+    loadingMarkers.set(patternUrl, p);
+    return p;
+}
+
 onMessage(async (ev) => {
     const { type, payload } = ev || {};
     try {
         if (type === 'init') {
+            if (payload && typeof payload === 'object') {
+                INIT_OPTS.moduleUrl = payload.moduleUrl ?? INIT_OPTS.moduleUrl;
+                INIT_OPTS.cameraParametersUrl = payload.cameraParametersUrl ?? INIT_OPTS.cameraParametersUrl;
+                INIT_OPTS.wasmBaseUrl = payload.wasmBaseUrl ?? INIT_OPTS.wasmBaseUrl;
+                if (typeof payload.minConfidence === 'number') {
+                    INIT_OPTS.minConfidence = payload.minConfidence;
+                    MIN_CONFIDENCE = payload.minConfidence;
+                }
+            }
             sendMessage({ type: 'ready' });
-        } else if (type === 'processFrame') {
-            // Browser: payload.imageBitmap may exist
-            const { imageBitmap, frameId } = payload || {};
-
-            // If ImageBitmap present, we could run detection on it.
-            // In this stub, we just simulate a small delay, then close the ImageBitmap.
-            if (imageBitmap && typeof imageBitmap.close === 'function') {
-                // simulate async processing
-                await new Promise((r) => setTimeout(r, 10));
-                // optional: read pixels via OffscreenCanvas if needed
-                try {
-                    // Always close the ImageBitmap to free resources
-                    imageBitmap.close();
-                } catch (e) {
-                    // ignore
+            return;
+        }
+
+        if (type === 'loadMarker') {
+            const { patternUrl, size = 1, requestId } = payload || {};
+            if (!patternUrl) {
+                sendMessage({ type: 'loadMarkerResult', payload: { ok: false, error: 'Missing patternUrl parameter', requestId } });
+                return;
+            }
+            try {
+                const ok = await initArtoolkit(640, 480);
+                if (!ok) throw new Error('ARToolKit not initialized');
+
+                const markerId = await loadPatternOnce(patternUrl);
+                if (typeof arController.trackPatternMarkerId === 'function') {
+                    arController.trackPatternMarkerId(markerId, size);
+                } else if (typeof arController.trackPatternMarker === 'function') {
+                    arController.trackPatternMarker(markerId, size);
                 }
-            } else {
-                // No ImageBitmap (Node mode or fallback). Simulate async detection.
-                await new Promise((r) => setTimeout(r, 10));
+                sendMessage({ type: 'loadMarkerResult', payload: { ok: true, markerId, size, requestId } });
+            } catch (err) {
+                console.error('[Worker] loadMarker error:', err);
+                sendMessage({ type: 'loadMarkerResult', payload: { ok: false, error: err?.message || String(err), requestId } });
             }
+            return;
+        }
 
-            const fakeMatrix = new Float32Array([1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1]);
-            const result = {
-                detections: [
-                    {
-                        id: 'demo',
-                        confidence: 0.9,
-                        poseMatrix: Array.from(fakeMatrix),
-                        corners: [{x:0,y:0},{x:1,y:0},{x:1,y:1},{x:0,y:1}],
-                        frameId
+        if (type === 'processFrame') {
+            const { imageBitmap, width, height } = payload || {};
+            if (!isNodeWorker && imageBitmap) {
+                try {
+                    const w = width || imageBitmap.width || 640;
+                    const h = height || imageBitmap.height || 480;
+
+                    await initArtoolkit(w, h);
+
+                    if (!offscreenCanvas || canvasW !== w || canvasH !== h) {
+                        canvasW = w; canvasH = h;
+                        offscreenCanvas = new OffscreenCanvas(canvasW, canvasH);
+                        offscreenCtx = offscreenCanvas.getContext('2d', { willReadFrequently: true });
+                    }
+
+                    offscreenCtx.clearRect(0, 0, canvasW, canvasH);
+                    offscreenCtx.drawImage(imageBitmap, 0, 0, canvasW, canvasH);
+                    try { imageBitmap.close?.(); } catch {}
+
+                    if (arControllerInitialized && arController) {
+                        try {
+                            arController.process(offscreenCanvas);
+                        } catch (e) {
+                            try {
+                                const imgData = offscreenCtx.getImageData(0, 0, canvasW, canvasH);
+                                arController.process(imgData);
+                            } catch (inner) {
+                                console.warn('[Worker] ARToolKit process fallback failed:', inner);
+                            }
+                        }
                     }
-                ]
-            };
+                } catch (err) {
+                    console.error('[Worker] processFrame error:', err);
+                }
+                return;
+            }
 
-            sendMessage({ type: 'detectionResult', payload: result });
+            await new Promise((r) => setTimeout(r, 5));
+            return;
         }
     } catch (err) {
         sendMessage({ type: 'error', payload: { message: err?.message || String(err) } });