Tag based pose estimation with covariance

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Hi,

Do you know if there is any ROS package that enables to get the robot position with convariance from some kind of tags?

By tags, I mean something like QR-code, AR-tag, AruCo tag, ...

Some constraints :

• I want to be able to etimate the position when a single tag is visible

• I want to be able to get the full pose of the robot relative to the tag (or of the tag relative to the robot)

• the tag should be visible from rather far away (so simpler tags like AR-Tag/AruCo Tag are better), knowing that I will need up to 100 tags (so no need for lot of pixels)

• I will be using a ZED2 camera which is a stereo camera. As we are using it also for other things, we have to retrieve the data directly from one of the published topics, which include "normal" image from one camera (sensor_msgs/Image) and deepth maps (sensor_msgs/Image). The full list is there : http://wiki.ros.org/zed-ros-wrapper#P...

Do you know any such package?

Thanks a lot in advance