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Just to clarify the tags you looking to id are noted above as 2525cm... By this do you mean 25cm x 25cm (roughly 10 in x 10 in for US folks)? It also sounds like they are "fixed" locations. What is the speed of the Rover? What are the ground conditions )smooth concrete, grass, mixed, etc)? Ground speed and smoothness have a material effect on vibration/motion blur and therefore detection. Last which Apriltag Family are you using? Simpler ones encoding less data tend to be more robust. As to ideas to speed up the process consider culling down the region of interest once you have fairly high confidence that you have located a tag.