Identify the cause of baseline marker-detection failure

Identify why the baseline image pairs failed to provide two common ArUco marker IDs and determine whether visibility, image quality, detector behaviour, or another factor caused the complete difference in marker-estimation eligibility between the baseline and supported runs.

Background

The protocol used two common ArUco markers and sub-pixel corner fitting when both markers were detected in both frames. All supported trials met the marker-based condition, whereas none of the baseline trials met the two-common-marker requirement; the baseline data were instead processed using SIFT scene features and RANSAC.

Because the baseline marker-detection failure was not independently resolved, the two conditions may differ systematically in acquisition or measurement quality. The paper notes that visibility, image quality, and detector behaviour were not separately evaluated.