fid0

[lbv-h]

Hi, I want to use fiducials for pose estimation of a robot. However, I am getting the wrong results.

In screenshots below true robot's position is depicted by the blue arrow and the estimated robot's position is depicted by the red arrow. I am using a predefined fiducial map that contains fiducials with ids from 1 to 7. But I have noticed there is a fiducial with id 0 (fid0) that is moving randomly in the world.

I am wondering what fid0 is. Does it affect the robot's pose estimation?
Probably you could give me a hint why the robot's pose estimation doesn't work fine for me?

Thanks for your help!

[JanezCim]

I also see fid0 randomly appearing, but it does not seem to be bothering the fiducial slam