Using the distance that an object appears from the left and right side defined as d = x_l - x_r, we were able to calculate several useful parameters that we can use to track an ArUco marker as shown here. One being the distance of the ArUco marker from the camera as well as the horizontal and vertical position of the ArUco marker defined as x and y.

Using only a webcam isn’t sufficient to obtain information about depth, in other words, how far the ArUco marker is relative to the camera, so a second webcam is needed. Using a second webcam, we’re able to determine the distance 

In the table you can see the room mean square error of all 15 experiments. With this data we found that by using inexpensive cameras and set under and RGB color space we can have an error as low as 2mm. Under this color space we also had the lowest amount of filtering. However, going forward we can find alternative methods to further decrease the error of the tracking system and also consider other effects such as the rotating the ArUco marker and movement error.