I am using apriltag to detect fiducial markers and estimate the pose of the marker. I intend to use the markers on curved surfaces however apriltag seems to not be able to estimate curved markers very successfully (e.g. on a coffee mug). Is there any way I could try of estimating the pose of a marker on a curved surface? I have seen some custom markers that are designed for curved surfaces but the code isn't open source.
The above gif is an example I recorded of apriltag struggling with curved surfaces.