Aruco in the Pool?

Anyone use large, laminated Aruco (or AprilTags or anything) with the low-light USB cam to localize your vehicle in a swimming pool environment?

Any tips?

I’m considering this as a quick and inexpensive way to get a rough position estimate to try some control experiments, but curious what challenges others have faced. My camera is rigidly mounted behind flat glass, like this Blue Robotics USB Camera Adapter by danzimmerman - Thingiverse so I think holding calibration should be straightforward.

Theres an awesome video of a team doing this with a bluerov1 on youtube. Ill see if I can find it.

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Cool, thanks!