Set start pose by seeing Alvar AR Marker of known location

Preliminary Checks

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Proposal

We would like to record the position of a fixed Alvar AR marker in a shed. On boot as our sensor and navigation nodes start, the Zed2i would detect the marker and register the marker's location to set the Zed tracking starting pose (in map frame?)

Use-Case

This helps us ensure a UGV accurately knows it's starting position on a static map while indoors. It also allows us to park the vehicle in the correct place when it returns to the building from outdoor operations.

Anything else?

We're using the Zed21 Odom, GPS, 3D lidar and IMU to feed Google Cartographer. I don't understand the Cartographer Landmark function or how this may work/interact with using the AR marker. Haven't been able to determine that. Let me know of any questions or suggestion please @Myzhar . Thanks, Ben

stereolabs / zed-ros-examples