A few things come to mind, but I’m just making guesses.
- Some of the markers “covered with adhesive tape” have some visible lines / streaks on them, presumably from where the tape wasn’t adhered well. Aruco detection is pretty robust, but it’s possible this is throwing it off.
- The ones not being detected seem larger in the image - maybe your detector parameters (maxMarkerPerimeterRate?) aren’t right for the larger markers.
- Make sure you have enough white boundary around the marker - it looks like you do, but it’s something to be aware of.
- I know you said they are from the same dictionary, but it might be helpful to have identical markers to test with - one with the tape, the other without. In my experience some markers are easier / more reliably detected.
I think there is a way to get debug / intermediate processing results out of the Aruco detection. I’ve done something with that, but maybe I was building from source / editing the code. In any case, it could be helpful to see where/why it is failing.
Frankly I would expect it to work on your images, so I’m leaning toward detector parameters (or invalid marker).
Good luck.