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I need to add the information provided by the tag detector, when it exists. And, when it exists, that information is discrete.

I assume by this that you mean that you would like to fuse the AR tag data into your EKF state estimate.

Your tag data, as you said, is likely the pose of your robot with respect to the tag. What you need to do is provide a transform from your world frame origin to the tag in question. So when the robot sees the tag, it transform that tag to your EKF world frame, and then fuses it. But that means that you need to provide a separate transform for each tag in your environment.