AprilTag Detection About AprilTags AprilTag Pipeline Types AprilTag AruCo 2D AprilTag Tuning / Tracking Tracking AprilTags Tuning AprilTags Target Family Decimate Blur Threads Refine Edges Pose Iterations Max Error Bits Decision Margin Cutoff 3D Tracking Ambiguity MultiTag Localization Enabling MultiTag Updating the Field Layout Coordinate Systems Field and Robot Coordinate Frame Camera Coordinate Frame AprilTag Coordinate Frame