Aruco Detection for Sima Localization

[yuhsiang1117]

Improve the Aruco detection performance and integrate it into the sima localization pipeline.
There are a few tasks to do:

1. Investigate the cause of unstable/oscillating Aruco detection

   • Analyze frame-to-frame fluctuation issues.
   • Check camera calibration accuracy, lighting condition, frame rate, and detection logic.

2. Optimize parameters or algorithm to reduce detection error (< 1 cm target)

   • Tune detector configuration (corner refinement, dictionary type, thresholding, etc.).
   • Explore filtering/smoothing methods (Kalman filter, averaging, pose estimation enhancements).
   • Evaluate result accuracy under different environments.

3. Integrate the improved Aruco detection into the sima localization system

   • Define interface and coordinate transformation.
   • Ensure real-time performance and compatibility with the localization module.
   • Perform integration testing and validation.

Please work this task on feat/sima_localization
If you have any questions or ideas, please feel free to bring them up as soon as possible.