Imaging techniques in anatomy have developed rapidly over the last decades through the emergence of various 3D scanning systems. Depending on the dissection level, non‐contact or tactile contact methods can be applied on the targeted structure. The aim of this study was to assess the inter and intra‐observer reproducibility of an ArUco‐based localisation stylus, that is, a manual technique on a hand‐held stylus. Ten fresh–frozen, unembalmed adult arms were used to digitalise the glenoid cartilage related to the glenohumeral joint and the contour of the clavicle cartilage related to the acromioclavicular joint. Three operators performed consecutive digitalisations of each cartilage contour using an ArUco‐based localisation stylus recorded by a single monocular camera. The shape of each cartilage was defined by nine shape parameters. Intra‐observer repeatability and inter‐observer reproducibility were computed using an intra‐class correlation (ICC) for each of these parameters. Overall, 35.2 ± 2.4 s and 26.6 ± 10.2 s were required by each examiner to digitalise the contour of a glenoid and acromioclavicular cartilage, respectively. For most parameters, good‐to‐excellent agreements were observed concerning intra‐observer (ICC ranging between 0.81 and 1.00) and inter‐observer (ICC ranging between 0.75 and 0.99) reproducibility. To conclude, through a fast and versatile process, the use of an ArUco‐based localisation stylus can be a reliable low‐cost alternative to conventional imaging methods to digitalise shoulder cartilage contours.