[Ask] good methods for pose estimation using ArUco marker ??

[kshfire]

Intro

Hi!

I am a researcher. I use MuJoCo for my research on a company.

My setup

Ubuntu 24.04
Recent MuJoCo w/ C++

My question

I want to estimate object's pose by a camera in the Mujoco simulation.
I've tried to use an ArUco marker for this work. I refered this good example. (https://github.com/dtorre38/mujoco_opencv/tree/main/opencv_aruco)

I've searched previous similar cases and found that there were different convention between OpenCV and the MuJoCo (openGL).
I've checked opencv_aurco's opencv_aruco example code. but estimated distance seemed to be inaccurate.

• marker is well detected but the results rvec, tvec are not accurate...

I'm thinking about what the mistake or missing here.. (ex. opencv_aruco codes)
I'd appreciated if someone give me opinions or examples codes, etc.

Thanks.

Minimal model and/or code that explain my question

If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).

Model:

minimal XML

<mujoco>
  <worldbody>
    <light pos="0 0 1"/>
    <geom type="sphere" size="1" rgba="1 0 0 1"/>
  </worldbody>
</mujoco>

Code:

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.