Pose3d freaks out further than 3' away

Following this tutorial: Tutorial for AprilTag Detection with a USB Camera — isaac_ros_docs documentation
I can’t seem to get an accurate Pose3d that doesn’t jitter (mainly the distance) with an apriltag that is 36h11 6.5" at 6’ away the pose3d estimate is jittering so much in the distance it’s making it unusable, the center stays the same and is super accurate however the distance fluctuates a lot and sometimes the orientation moves.

The camera has been tuned with a lot of data (140 samples)
The camera is in good focus at both distances.
using this camera https://www.amazon.com/Arducam-Distortion-Microphones-Computer-Raspberry/dp/B096M5DKY6/ref=sr_1_2?s=electronics&sr=1-2-spons&sp_csd=d2lkZ2V0TmFtZT1zcF9hdGY

Any advice or starting point that anyone recommends?

Hi @ramimouro welcome to the Isaac ROS forum.

This jitter can be caused by a bad camera calibration or poor light quality.
Have you tried to recalibrate using our tutorial? Monocular Camera Calibration — isaac_ros_docs documentation


Camera is calibrated according to that page with > 100 samples. I’ve tried in multiple lightning conditions and camera settings and can only get accuracy up to 3m. Any advice to get the accuracy to about 8m range?

Hi @ramimouro

You can check Isaac ROS Apriltag’s performance by running a benchmark and checking if the output is the same as what we tested.

Benchmark tutorial: isaac_ros_benchmark — isaac_ros_docs documentation

If the output result is the same, try with the basic tutorial isaac_ros_apriltag — isaac_ros_docs documentation

If the jitter is only happening on your camera, try using a different camera. It could be an issue with the specific hardware.