How to use Kalman filter to stop jitters when using aruco markers?

Hey there.
Have a look at that old video, the results are impressive.
The author’s site is not operational anymore.

  • Would the pros here consider a tutorial about how to do it with OpenCV ?
  • I’d love to find some code examples for that specific use to understand / tweak.

PS : In lieu of Kalman filter, I tried to use a moving average and even a weighted moving average for corner coordinates, but I am nowhere near the results of that incredible video

Thank you