Improve accuracy of pose with bigger ArUco markers

Question

Referring to the original question, would the pose accuracy of camera improve when a relatively larger marker of length say 0.65m is used?

Answer 1

Using a single marker will have all the problems described in the original question, regardless of the size of the marker. If you scale up your marker size by some scale factor F, all that happens is that the minimum and maximum distances at which you can reliably use the marker also scale up by factor F. The gain in maximum distance is offset by the corresponding loss of minimum distance. It doesn't really change the problem fundamentally.

The key to reliable pose estimation is to arrange your markers so that, regardless of where the camera is, there are decodable markers whose corners cover a large part of your viewport. Roughly speaking, your minimum distance occurs when individual markers become too large to fit in the viewport, and your maximum distance occurs when individual markers become too small for your camera to resolve and decode. The range of distances you can use thus depends on your camera resolution and quality. If you need even more range, you can use several different marker sizes at once, eg. nested markers.