ar_track_alvar noise/uncertainty

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running ubuntu 16.04 with ROS kinetic trying to use ar_track_alvar with a Realsense SR300 (subscribed to rgb)

Hey all,

Just wanted to ask if anyone has encountered any sort of noise or uncertainty when trying to get a pose from an ar tag or ar tag bundle? If i have the camera stationary and looking at a stationary ar tag bundle, there are fluctuations in the pose. This only occurs when the camera is looking straight ahead at the ar tag bundle. If the camera or the ar tag bundle were at an angle, the relative pose of the ar tags are stable.

If anyone can suggest and solutions please let me know. If anyone needs more details or visual examples, let me know and will update this question as necessary.

Thanks in advance!

~ Luke