I need to detect Aruco/Apriltags markers and perform pose estimation, but I've no particular constraint on their physical size. I'm not talking about the number of square (e.g. 4x4, 6x6, etc.), but of the dimension of the markers in millimeters. Which size should I choose, in order to maximise the positive detection rate? Are large markers easier to detect than smaller ones?
I suspect that the full answer will depend non trivially on the distance camera-markers, and possibly on lighting. Assume good lighting and 0.5-1m distance from the markers, if needed.
Any reference is appreciated.