title: Why the ArUco Marker Detection gives strange and counter-intuitive results?
body: <p>I am using a simple ArUco Marker Detection Program which has as input images or videos and as output rotational(angles w.r.t 3D axis) and transformational(position w.r.t 3D axis vectors). The program is mainly based on the following 3 functions:</p>
  
  <ul>
  <li>detectMarker </li>
  <li>estimatePoseSingleMarkers  </li>
  <li>drawDetectedMarkers</li>
  </ul>
  
  <p>My goal is to see how accurate the program detects the ArUco Markers when it is attached to a vehicle. (i.e. <a href="https://i.stack.imgur.com/Jl93p.png" rel="nofollow noreferrer">ArUco Marker printed on a vehicle</a>)</p>
  
  <p>Firstly, I used calibrateCameraCharuco() to get the camera parameters from Blender (the software that I am using to render images) which are very closely matching ideal camera parameters.(With the ideal camera parameters I get the same results)</p>
  
  <p>Secondly, I generated sets of images and came up with the error results which are shown below.
  - <a href="https://i.stack.imgur.com/y4xpH.jpg" rel="nofollow noreferrer">Angle Results - ArUco Marker Size 80cm</a></p>
  
  <p>The behaviour for angles is strange as the error firstly is low for low values, high for medium values and low again for high values of the angles. Moreover, the distance error results look the same as the angles.</p>
  
  <p>I am wondering if you have experiences such results before or if you have any advice of why the detection of ArUco Markers behaves like this.</p>
  
  <p>Thanks for your attention and I appreciate in advance your help.</p>