diff --git a/photon-client/src/components/pipeline/CameraAndPipelineSelect.vue b/photon-client/src/components/pipeline/CameraAndPipelineSelect.vue
index 2619e38af..4e2cc5e1a 100644
--- a/photon-client/src/components/pipeline/CameraAndPipelineSelect.vue
+++ b/photon-client/src/components/pipeline/CameraAndPipelineSelect.vue
@@ -153,7 +153,7 @@
           v-model="currentPipelineType"
           name="Type"
           tooltip="Changes the pipeline type, which changes the type of processing that will happen on input frames"
-          :list="['Reflective Tape', 'Colored Shape', 'AprilTag']"
+          :list="['Reflective Tape', 'Colored Shape', 'AprilTag', 'Aruco']"
           @input="e => showTypeDialog(e)"
         />
       </v-col>
diff --git a/photon-client/src/store/index.js b/photon-client/src/store/index.js
index 259042f78..b0e475569 100644
--- a/photon-client/src/store/index.js
+++ b/photon-client/src/store/index.js
@@ -52,7 +52,7 @@ export default new Vuex.Store({
                 isFovConfigurable: true,
                 calibrated: false,
                 currentPipelineSettings: {
-                    pipelineType: 4, // One of "calib", "driver", "reflective", "shape", "AprilTag"
+                    pipelineType: 5, // One of "calib", "driver", "reflective", "shape", "AprilTag"
                     // 2 is reflective
 
                     // Settings that apply to all pipeline types
@@ -91,7 +91,7 @@ export default new Vuex.Store({
                     cornerDetectionAccuracyPercentage: 10,
 
                     // Settings that apply to AprilTag
-                    tagFamily: 0,
+                    tagFamily: 1,
                     decimate: 1.0,
                     blur: 0.0,
                     threads: 1,
diff --git a/photon-client/src/views/PipelineView.vue b/photon-client/src/views/PipelineView.vue
index c5ce3c153..a42f9eef5 100644
--- a/photon-client/src/views/PipelineView.vue
+++ b/photon-client/src/views/PipelineView.vue
@@ -1,37 +1,37 @@
 <template>
   <div>
     <v-container
-      class="pa-3"
-      fluid
+        class="pa-3"
+        fluid
     >
       <v-row
-        no-gutters
-        align="center"
-        justify="center"
+          no-gutters
+          align="center"
+          justify="center"
       >
         <v-col
-          cols="12"
-          :class="['pb-3 ', 'pr-lg-3']"
-          lg="8"
-          align-self="stretch"
+            cols="12"
+            :class="['pb-3 ', 'pr-lg-3']"
+            lg="8"
+            align-self="stretch"
         >
           <v-card
-            color="primary"
-            height="100%"
-            style="display: flex; flex-direction: column"
-            dark
+              color="primary"
+              height="100%"
+              style="display: flex; flex-direction: column"
+              dark
           >
             <v-card-title
-              class="pb-0 mb-0 pl-4 pt-1"
-              style="height: 15%; min-height: 50px;"
+                class="pb-0 mb-0 pl-4 pt-1"
+                style="height: 15%; min-height: 50px;"
             >
               Cameras
               <v-chip
-                :class="fpsTooLow ? 'ml-2 mt-1' : 'mt-2'"
-                x-small
-                label
-                :color="fpsTooLow ? 'error' : 'transparent'"
-                :text-color="fpsTooLow ? 'white' : 'grey'"
+                  :class="fpsTooLow ? 'ml-2 mt-1' : 'mt-2'"
+                  x-small
+                  label
+                  :color="fpsTooLow ? 'error' : 'transparent'"
+                  :text-color="fpsTooLow ? 'white' : 'grey'"
               >
                 <span class="pr-1">Processing @ {{ Math.round($store.state.pipelineResults.fps) }}&nbsp;FPS &ndash;</span>
                 <span v-if="fpsTooLow && !$store.getters.currentPipelineSettings.inputShouldShow && $store.getters.pipelineType == 2">HSV thresholds are too broad; narrow them for better performance</span>
@@ -39,37 +39,37 @@
                 <span v-else>{{ Math.min(Math.round($store.state.pipelineResults.latency), 9999) }} ms latency</span>
               </v-chip>
               <v-switch
-                v-model="driverMode"
-                label="Driver Mode"
-                style="margin-left: auto;"
-                color="accent"
+                  v-model="driverMode"
+                  label="Driver Mode"
+                  style="margin-left: auto;"
+                  color="accent"
               />
             </v-card-title>
             <v-row
-              align="center"
+                align="center"
             >
               <v-col
-                v-for="idx in (selectedOutputs instanceof Array ? selectedOutputs : [selectedOutputs])"
-                :key="idx"
-                cols="12"
-                :md="selectedOutputs.length === 1 ? 12 : Math.floor(12 / selectedOutputs.length)"
-                class="pb-0 pt-0"
-                style="height: 100%;"
+                  v-for="idx in (selectedOutputs instanceof Array ? selectedOutputs : [selectedOutputs])"
+                  :key="idx"
+                  cols="12"
+                  :md="selectedOutputs.length === 1 ? 12 : Math.floor(12 / selectedOutputs.length)"
+                  class="pb-0 pt-0"
+                  style="height: 100%;"
               >
                 <div style="position: relative; width: 100%; height: 100%;">
                   <cv-image
-                    :id="idx === 0 ? 'raw-stream' : 'processed-stream'"
-                    ref="streams"
-                    :idx=idx
-                    :disconnected="!$store.state.backendConnected"
-                    scale="100"
-                    :max-height="$store.getters.isDriverMode ? '40vh' : '300px'"
-                    :max-height-md="$store.getters.isDriverMode ? '50vh' : '380px'"
-                    :max-height-lg="$store.getters.isDriverMode ? '55vh' : '390px'"
-                    :max-height-xl="$store.getters.isDriverMode ? '60vh' : '450px'"
-                    :alt="'Stream ' + idx"
-                    :color-picking="$store.state.colorPicking && idx === 0"
-                    @click="onImageClick"
+                      :id="idx === 0 ? 'raw-stream' : 'processed-stream'"
+                      ref="streams"
+                      :idx=idx
+                      :disconnected="!$store.state.backendConnected"
+                      scale="100"
+                      :max-height="$store.getters.isDriverMode ? '40vh' : '300px'"
+                      :max-height-md="$store.getters.isDriverMode ? '50vh' : '380px'"
+                      :max-height-lg="$store.getters.isDriverMode ? '55vh' : '390px'"
+                      :max-height-xl="$store.getters.isDriverMode ? '60vh' : '450px'"
+                      :alt="'Stream ' + idx"
+                      :color-picking="$store.state.colorPicking && idx === 0"
+                      @click="onImageClick"
                   />
                 </div>
               </v-col>
@@ -77,44 +77,44 @@
           </v-card>
         </v-col>
         <v-col
-          cols="12"
-          class="pb-3"
-          lg="4"
-          align-self="stretch"
+            cols="12"
+            class="pb-3"
+            lg="4"
+            align-self="stretch"
         >
           <v-card
-            color="primary"
+              color="primary"
           >
             <camera-and-pipeline-select />
           </v-card>
           <v-card
-            :disabled="$store.getters.isDriverMode || $store.state.colorPicking"
-            class="mt-3"
-            color="primary"
+              :disabled="$store.getters.isDriverMode || $store.state.colorPicking"
+              class="mt-3"
+              color="primary"
           >
             <v-row
-              align="center"
-              class="pl-3 pr-3"
+                align="center"
+                class="pl-3 pr-3"
             >
               <v-col lg="12">
                 <p style="color: white;">
                   Processing mode:
                 </p>
                 <v-btn-toggle
-                  v-model="processingMode"
-                  mandatory
-                  dark
-                  class="fill"
+                    v-model="processingMode"
+                    mandatory
+                    dark
+                    class="fill"
                 >
                   <v-btn
-                    color="secondary"
+                      color="secondary"
                   >
                     <v-icon>mdi-crop-square</v-icon>
                     <span>2D</span>
                   </v-btn>
                   <v-btn
-                    color="secondary"
-                    @click="on3DClick"
+                      color="secondary"
+                      @click="on3DClick"
                   >
                     <v-icon>mdi-cube-outline</v-icon>
                     <span>3D</span>
@@ -126,22 +126,22 @@
                   Stream display:
                 </p>
                 <v-btn-toggle
-                  v-model="selectedOutputs"
-                  :multiple="$vuetify.breakpoint.mdAndUp"
-                  mandatory
-                  dark
-                  class="fill"
+                    v-model="selectedOutputs"
+                    :multiple="$vuetify.breakpoint.mdAndUp"
+                    mandatory
+                    dark
+                    class="fill"
                 >
                   <v-btn
-                    color="secondary"
-                    class="fill"
+                      color="secondary"
+                      class="fill"
                   >
                     <v-icon>mdi-import</v-icon>
                     <span>Raw</span>
                   </v-btn>
                   <v-btn
-                    color="secondary"
-                    class="fill"
+                      color="secondary"
+                      class="fill"
                   >
                     <v-icon>mdi-export</v-icon>
                     <span>Processed</span>
@@ -154,29 +154,29 @@
       </v-row>
       <v-row no-gutters>
         <v-col
-          v-for="(tabs, idx) in tabGroups"
-          :key="idx"
-          :cols="Math.floor(12 / tabGroups.length)"
-          :class="idx !== tabGroups.length - 1 ? 'pr-3' : ''"
-          align-self="stretch"
+            v-for="(tabs, idx) in tabGroups"
+            :key="idx"
+            :cols="Math.floor(12 / tabGroups.length)"
+            :class="idx !== tabGroups.length - 1 ? 'pr-3' : ''"
+            align-self="stretch"
         >
           <v-card
-            color="primary"
-            height="100%"
-            class="pr-4 pl-4"
+              color="primary"
+              height="100%"
+              class="pr-4 pl-4"
           >
             <v-tabs
-              v-if="!$store.getters.isDriverMode"
-              v-model="selectedTabs[idx]"
-              grow
-              background-color="primary"
-              dark
-              height="48"
-              slider-color="accent"
+                v-if="!$store.getters.isDriverMode"
+                v-model="selectedTabs[idx]"
+                grow
+                background-color="primary"
+                dark
+                height="48"
+                slider-color="accent"
             >
               <v-tab
-                v-for="(tab, i) in tabs"
-                :key="i"
+                  v-for="(tab, i) in tabs"
+                  :key="i"
               >
                 {{ tab.name }}
               </v-tab>
@@ -184,10 +184,10 @@
             <div class="pl-4 pr-4 pt-2">
               <keep-alive>
                 <component
-                  :is="(tabs[selectedTabs[idx]] || tabs[0]).component"
-                  :ref="(tabs[selectedTabs[idx]] || tabs[0]).name"
-                  v-model="$store.getters.pipeline"
-                  @update="$emit('save')"
+                    :is="(tabs[selectedTabs[idx]] || tabs[0]).component"
+                    :ref="(tabs[selectedTabs[idx]] || tabs[0]).name"
+                    v-model="$store.getters.pipeline"
+                    @update="$emit('save')"
                 />
               </keep-alive>
             </div>
@@ -197,18 +197,18 @@
     </v-container>
 
     <v-snackbar
-      v-model="showNTWarning"
-      color="error"
-      timeout="-1"
-      top
+        v-model="showNTWarning"
+        color="error"
+        timeout="-1"
+        top
     >
       {{ $store.state.settings.networkSettings.runNTServer ?
         "NetworkTables server enabled! PhotonLib may not work." :
         "NetworkTables not connected! Are you on a network with a robot?" }}
       <template v-slot:action>
         <v-btn
-          text
-          @click="hideNTWarning = true"
+            text
+            @click="hideNTWarning = true"
         >
           Hide
         </v-btn>
@@ -216,12 +216,12 @@
     </v-snackbar>
 
     <v-dialog
-      v-model="dialog"
-      width="500"
+        v-model="dialog"
+        width="500"
     >
       <v-card
-        color="primary"
-        dark
+          color="primary"
+          dark
       >
         <v-card-title>
           Current resolution not calibrated
@@ -230,9 +230,9 @@
         <v-card-text>
           Because the current resolution {{ this.$store.getters.currentVideoFormat.width }} x {{ this.$store.getters.currentVideoFormat.height }} is not yet calibrated, 3D mode cannot be enabled. Please
           <a
-            href="/#/cameras"
-            class="white--text"
-            @click="$emit('switch-to-cameras')"
+              href="/#/cameras"
+              class="white--text"
+              @click="$emit('switch-to-cameras')"
           > visit the Cameras tab</a> to calibrate this resolution. For now, SolvePNP will do nothing.
         </v-card-text>
 
@@ -241,9 +241,9 @@
         <v-card-actions>
           <v-spacer />
           <v-btn
-            color="white"
-            text
-            @click="closeUncalibratedDialog"
+              color="white"
+              text
+              @click="closeUncalibratedDialog"
           >
             OK
           </v-btn>
@@ -264,252 +264,260 @@ import TargetsTab from "./PipelineViews/TargetsTab";
 import Map3DTab from './PipelineViews/Map3DTab';
 import PnPTab from './PipelineViews/PnPTab';
 import AprilTagTab from './PipelineViews/AprilTagTab';
+import ArucoTab from './PipelineViews/ArucoTab';
 
 export default {
-    name: 'Pipeline',
-    components: {
-        CameraAndPipelineSelect,
-        cvImage,
-        InputTab,
-        ThresholdTab,
-        ContoursTab,
-        OutputTab,
-        TargetsTab,
-        Map3DTab,
-        PnPTab,
-        AprilTagTab,
-    },
-    data() {
-        return {
-            selectedTabsData: [0, 0, 0, 0],
-            counterData: 0,
-            dialog: false,
-            processingModeOverride: false,
-            hideNTWarning: false,
-        }
-    },
-    computed: {
-        selectedTabs: {
-            get() {
-                return this.$store.getters.isDriverMode ? [0] : this.selectedTabsData;
-            },
-            set(value) {
-                this.selectedTabsData = value;
-            }
-        },
-        tabGroups: {
-            get() {
-                let tabs = {
-                    input: {
-                        name: "Input",
-                        component: "InputTab",
-                    },
-                    threshold: {
-                        name: "Threshold",
-                        component: "ThresholdTab",
-                    },
-                    contours: {
-                        name: "Contours",
-                        component: "ContoursTab",
-                    },
-                    apriltag: {
-                        name: "AprilTag",
-                        component: "AprilTagTab",
-                    },
-                    output: {
-                        name: "Output",
-                        component: "OutputTab",
-                    },
-                    targets: {
-                        name: "Targets",
-                        component: "TargetsTab",
-                    },
-                    pnp: {
-                        name: "PnP",
-                        component: "PnPTab",
-                    },
-                    map3d: {
-                        name: "3D",
-                        component: "Map3DTab",
-                    }
-                };
-
-                // If not in 3d, name "3D" is illegal
-                const allow3d = this.$store.getters.currentPipelineSettings.solvePNPEnabled;
-                // If in apriltag, "Threshold" and "Contours" are illegal -- otherwise "AprilTag" is
-                const isAprilTag = (this.$store.getters.currentPipelineSettings.pipelineType - 2) === 2;
-
-                // 2D array of tab names and component names; each sub-array is a separate tab group
-                let ret = [];
-                if (this.$vuetify.breakpoint.smAndDown || this.$store.getters.isDriverMode || (this.$vuetify.breakpoint.mdAndDown && !this.$store.state.compactMode)) {
-                    // One big tab group with all the tabs
-                    ret[0] = Object.values(tabs);
-                } else if (this.$vuetify.breakpoint.mdAndDown || !this.$store.state.compactMode) {
-                    // Two tab groups, one with "input, threshold, contours, output" and the other with "target info, 3D"
-                    ret[0] = [tabs.input, tabs.threshold, tabs.contours, tabs.apriltag, tabs.output];
-                    ret[1] = [tabs.targets, tabs.pnp, tabs.map3d];
-                } else if (this.$vuetify.breakpoint.lgAndDown) {
-                    // Three tab groups, one with "input", one with "threshold, contours, output", and the other with "target info, 3D"
-                    ret[0] = [tabs.input];
-                    ret[1] = [tabs.threshold, tabs.contours, tabs.apriltag, tabs.output];
-                    ret[2] = [tabs.targets, tabs.pnp, tabs.map3d];
-                } else if (this.$vuetify.breakpoint.xl) {
-                    // Three tab groups, one with "input", one with "threshold, contours", and the other with "output, target info, 3D"
-                    ret[0] = [tabs.input];
-                    ret[1] = [tabs.threshold];
-                    ret[2] = [tabs.contours, tabs.apriltag, tabs.output];
-                    ret[3] = [tabs.targets, tabs.pnp, tabs.map3d];
-                }
-
-                for(let i = 0; i < ret.length; i++) {
-                  const group = ret[i];
-
-                  // All the tabs we allow
-                  const filteredGroup = group.filter(it =>
-                          !(!allow3d && it.name === "3D") //Filter out 3D tab any time 3D isn't calibrated
-                       && !((!allow3d || isAprilTag) && it.name === "PnP") //Filter out the PnP config tab if 3D isn't available, or we're doing Apriltags
-                       && !(isAprilTag && (it.name === "Threshold")) //Filter out threshold tab if we're doing apriltags
-                       && !(isAprilTag && (it.name === "Contours")) //Filter out contours if we're doing Apriltag
-                       && !(!isAprilTag && it.name === "AprilTag") //Filter out apriltag unless we actually are doing Apriltags
-                      );
-                  ret[i] = filteredGroup;
-                }
-
-                // One last filter to remove empty lists
-                return ret.filter(it => it !== undefined && it.length > 0);
-            }
-        },
-        processingMode: {
-            get() {
-                return (this.$store.getters.currentPipelineSettings.solvePNPEnabled || this.processingModeOverride) ? 1 : 0;
-            },
-            set(value) {
-                if (this.$store.getters.isCalibrated) {
-                    this.$store.getters.currentPipelineSettings.solvePNPEnabled = value === 1;
-                    this.handlePipelineUpdate("solvePNPEnabled", value === 1);
-                }
-            }
-        },
-        driverMode: {
-            get() {
-                return this.$store.getters.isDriverMode;
-            },
-            set(value) {
-                this.$store.getters.currentCameraSettings.currentPipelineIndex = value ? -1 : 0;
-                this.handleInputWithIndex('currentPipeline', value ? -1 : 0);
-            }
-        },
-        selectedOutputs: {
-            // All this logic exists to deal with the reality that the output select buttons sometimes need an array and sometimes need a number (depending on whether or not they're exclusive)
-            get() {
-                // We switch the selector to single-select only on sm-and-down size devices, so we have to return a Number instead of an Array in that state
-                let ret = [];
-                if (this.$store.state.colorPicking) {
-                    ret = [0]; // We want the input stream only while color picking
-                } else if (this.$store.getters.isDriverMode) {
-                    ret = [1]; // We want only the output stream in driver mode
-                } else {
-                  if (this.$store.getters.currentPipelineSettings.inputShouldShow) ret = ret.concat([0]);
-                  if (this.$store.getters.currentPipelineSettings.outputShouldShow) ret = ret.concat([1]);
-                  if (!ret.length) ret = [0];
-                }
-
-                if (this.$vuetify.breakpoint.mdAndUp) {
-                    return ret;
-                } else {
-                    return ret[0] || 0;
-                }
-            },
-            set(value) {
-                let valToCommit = [0];
-                if (value instanceof Array) {
-                  // Value is already an array, we don't need to do anything
-                  valToCommit = value;
-                } else if (value) {
-                  // Value is assumed to be a number, so we wrap it into an array
-                  valToCommit = [value];
-                }
-
-                this.$store.commit("mutatePipeline", {"inputShouldShow": valToCommit.includes(0)});
-                this.$store.commit("mutatePipeline", {"outputShouldShow": valToCommit.includes(1)});
-                this.handlePipelineUpdate("inputShouldShow", valToCommit.includes(0));
-            }
-        },
-        fpsTooLow: {
-            get() {
-                // For now we only show the FPS is too low warning when GPU acceleration is enabled, because we don't really trust the presented video modes otherwise
-                return this.$store.state.pipelineResults.fps - this.$store.getters.currentVideoFormat.fps < -5 && this.$store.state.pipelineResults.fps !== 0 && !this.$store.getters.isDriverMode && this.$store.state.settings.general.gpuAcceleration;
-            }
-        },
-        latency: {
-            get() {
-                return this.$store.getters.currentPipelineResults.latency;
-            }
-        },
-        isCalibrated: {
-          get() {
-            const resolution = this.$store.getters.videoFormatList[this.$store.getters.currentPipelineSettings.cameraVideoModeIndex];
-            return this.$store.getters.currentCameraSettings.calibrations
-                    .some(e => e.width === resolution.width && e.height === resolution.height)
-          }
-        },
-        isRobotConnected: {
-          get() {
-            // return this.$store.state.ntConnectionInfo.connected && this.$store.state.backendConnected;
-            return true;
-          }
-        },
-        showNTWarning: {
-          get() {
-            return (!this.$store.state.ntConnectionInfo.connected || this.$store.state.settings.networkSettings.runNTServer) && this.$store.state.settings.networkSettings.teamNumber > 0 && this.$store.state.backendConnected && !this.hideNTWarning;
-          }
-        },
-    },
-    created() {
-        this.$store.state.connectedCallbacks.push(this.reloadStreams)
-    },
-    methods: {
-        reloadStreams() {
-            // Reload the streams as we technically close and reopen them
-            this.$refs.streams.forEach(it => it.reload())
-        },
-        onImageClick(event) {
-            // Only run on the input stream
-            if (event.target.alt !== "Stream0") return;
-            // Get a reference to the threshold tab (if it is shown) and call its "onClick" method
-            let ref = this.$refs["Threshold"];
-            if (ref && ref[0])
-                ref[0].onClick(event)
-        },
-        on3DClick() {
-            if (!this.$store.getters.isCalibrated) {
-                this.dialog = true;
-                this.processingModeOverride = true;
-            }
-        },
-        closeUncalibratedDialog() {
-            this.dialog = false;
-            this.processingModeOverride = false;
-            // this.$store.getters.currentPipelineSettings.solvePNPEnabled = false;
-            this.handlePipelineUpdate("solvePNPEnabled", false);
-        }
+  name: 'Pipeline',
+  components: {
+    CameraAndPipelineSelect,
+    cvImage,
+    InputTab,
+    ThresholdTab,
+    ContoursTab,
+    OutputTab,
+    TargetsTab,
+    Map3DTab,
+    PnPTab,
+    AprilTagTab,
+    ArucoTab,
+  },
+  data() {
+    return {
+      selectedTabsData: [0, 0, 0, 0],
+      counterData: 0,
+      dialog: false,
+      processingModeOverride: false,
+      hideNTWarning: false,
     }
+  },
+  computed: {
+    selectedTabs: {
+      get() {
+        return this.$store.getters.isDriverMode ? [0] : this.selectedTabsData;
+      },
+      set(value) {
+        this.selectedTabsData = value;
+      }
+    },
+    tabGroups: {
+      get() {
+        let tabs = {
+          input: {
+            name: "Input",
+            component: "InputTab",
+          },
+          threshold: {
+            name: "Threshold",
+            component: "ThresholdTab",
+          },
+          contours: {
+            name: "Contours",
+            component: "ContoursTab",
+          },
+          apriltag: {
+            name: "AprilTag",
+            component: "AprilTagTab",
+          },
+          aruco: {
+            name: "Aruco",
+            component: "ArucoTab",
+          },
+          output: {
+            name: "Output",
+            component: "OutputTab",
+          },
+          targets: {
+            name: "Targets",
+            component: "TargetsTab",
+          },
+          pnp: {
+            name: "PnP",
+            component: "PnPTab",
+          },
+          map3d: {
+            name: "3D",
+            component: "Map3DTab",
+          }
+        };
+
+        // If not in 3d, name "3D" is illegal
+        const allow3d = this.$store.getters.currentPipelineSettings.solvePNPEnabled;
+        // If in apriltag, "Threshold" and "Contours" are illegal -- otherwise "AprilTag" is
+        const isAprilTag = (this.$store.getters.currentPipelineSettings.pipelineType - 2) === 2;
+        const isAruco = (this.$store.getters.currentPipelineSettings.pipelineType - 2) === 3;
+
+        // 2D array of tab names and component names; each sub-array is a separate tab group
+        let ret = [];
+        if (this.$vuetify.breakpoint.smAndDown || this.$store.getters.isDriverMode || (this.$vuetify.breakpoint.mdAndDown && !this.$store.state.compactMode)) {
+          // One big tab group with all the tabs
+          ret[0] = Object.values(tabs);
+        } else if (this.$vuetify.breakpoint.mdAndDown || !this.$store.state.compactMode) {
+          // Two tab groups, one with "input, threshold, contours, output" and the other with "target info, 3D"
+          ret[0] = [tabs.input, tabs.threshold, tabs.contours, tabs.apriltag, tabs.aruco, tabs.output];
+          ret[1] = [tabs.targets, tabs.pnp, tabs.map3d];
+        } else if (this.$vuetify.breakpoint.lgAndDown) {
+          // Three tab groups, one with "input", one with "threshold, contours, output", and the other with "target info, 3D"
+          ret[0] = [tabs.input];
+          ret[1] = [tabs.threshold, tabs.contours, tabs.apriltag,tabs.aruco, tabs.output];
+          ret[2] = [tabs.targets, tabs.pnp, tabs.map3d];
+        } else if (this.$vuetify.breakpoint.xl) {
+          // Three tab groups, one with "input", one with "threshold, contours", and the other with "output, target info, 3D"
+          ret[0] = [tabs.input];
+          ret[1] = [tabs.threshold];
+          ret[2] = [tabs.contours, tabs.apriltag, tabs.aruco,tabs.output];
+          ret[3] = [tabs.targets, tabs.pnp, tabs.map3d];
+        }
+
+        for(let i = 0; i < ret.length; i++) {
+          const group = ret[i];
+
+          // All the tabs we allow
+          const filteredGroup = group.filter(it =>
+              !(!allow3d && it.name === "3D") //Filter out 3D tab any time 3D isn't calibrated
+              && !((!allow3d || isAprilTag || isAruco) && it.name === "PnP") //Filter out the PnP config tab if 3D isn't available, or we're doing Apriltags
+              && !((isAprilTag || isAruco) && (it.name === "Threshold")) //Filter out threshold tab if we're doing apriltags
+              && !((isAprilTag || isAruco)&& (it.name === "Contours")) //Filter out contours if we're doing Apriltag
+              && !(!isAprilTag && it.name === "AprilTag") //Filter out apriltag unless we actually are doing Apriltags
+              && !(!isAruco && it.name === "Aruco")
+          );
+          ret[i] = filteredGroup;
+        }
+
+        // One last filter to remove empty lists
+        return ret.filter(it => it !== undefined && it.length > 0);
+      }
+    },
+    processingMode: {
+      get() {
+        return (this.$store.getters.currentPipelineSettings.solvePNPEnabled || this.processingModeOverride) ? 1 : 0;
+      },
+      set(value) {
+        if (this.$store.getters.isCalibrated) {
+          this.$store.getters.currentPipelineSettings.solvePNPEnabled = value === 1;
+          this.handlePipelineUpdate("solvePNPEnabled", value === 1);
+        }
+      }
+    },
+    driverMode: {
+      get() {
+        return this.$store.getters.isDriverMode;
+      },
+      set(value) {
+        this.$store.getters.currentCameraSettings.currentPipelineIndex = value ? -1 : 0;
+        this.handleInputWithIndex('currentPipeline', value ? -1 : 0);
+      }
+    },
+    selectedOutputs: {
+      // All this logic exists to deal with the reality that the output select buttons sometimes need an array and sometimes need a number (depending on whether or not they're exclusive)
+      get() {
+        // We switch the selector to single-select only on sm-and-down size devices, so we have to return a Number instead of an Array in that state
+        let ret = [];
+        if (this.$store.state.colorPicking) {
+          ret = [0]; // We want the input stream only while color picking
+        } else if (this.$store.getters.isDriverMode) {
+          ret = [1]; // We want only the output stream in driver mode
+        } else {
+          if (this.$store.getters.currentPipelineSettings.inputShouldShow) ret = ret.concat([0]);
+          if (this.$store.getters.currentPipelineSettings.outputShouldShow) ret = ret.concat([1]);
+          if (!ret.length) ret = [0];
+        }
+
+        if (this.$vuetify.breakpoint.mdAndUp) {
+          return ret;
+        } else {
+          return ret[0] || 0;
+        }
+      },
+      set(value) {
+        let valToCommit = [0];
+        if (value instanceof Array) {
+          // Value is already an array, we don't need to do anything
+          valToCommit = value;
+        } else if (value) {
+          // Value is assumed to be a number, so we wrap it into an array
+          valToCommit = [value];
+        }
+
+        this.$store.commit("mutatePipeline", {"inputShouldShow": valToCommit.includes(0)});
+        this.$store.commit("mutatePipeline", {"outputShouldShow": valToCommit.includes(1)});
+        this.handlePipelineUpdate("inputShouldShow", valToCommit.includes(0));
+      }
+    },
+    fpsTooLow: {
+      get() {
+        // For now we only show the FPS is too low warning when GPU acceleration is enabled, because we don't really trust the presented video modes otherwise
+        return this.$store.state.pipelineResults.fps - this.$store.getters.currentVideoFormat.fps < -5 && this.$store.state.pipelineResults.fps !== 0 && !this.$store.getters.isDriverMode && this.$store.state.settings.general.gpuAcceleration;
+      }
+    },
+    latency: {
+      get() {
+        return this.$store.getters.currentPipelineResults.latency;
+      }
+    },
+    isCalibrated: {
+      get() {
+        const resolution = this.$store.getters.videoFormatList[this.$store.getters.currentPipelineSettings.cameraVideoModeIndex];
+        return this.$store.getters.currentCameraSettings.calibrations
+            .some(e => e.width === resolution.width && e.height === resolution.height)
+      }
+    },
+    isRobotConnected: {
+      get() {
+        // return this.$store.state.ntConnectionInfo.connected && this.$store.state.backendConnected;
+        return true;
+      }
+    },
+    showNTWarning: {
+      get() {
+        return (!this.$store.state.ntConnectionInfo.connected || this.$store.state.settings.networkSettings.runNTServer) && this.$store.state.settings.networkSettings.teamNumber > 0 && this.$store.state.backendConnected && !this.hideNTWarning;
+      }
+    },
+  },
+  created() {
+    this.$store.state.connectedCallbacks.push(this.reloadStreams)
+  },
+  methods: {
+    reloadStreams() {
+      // Reload the streams as we technically close and reopen them
+      this.$refs.streams.forEach(it => it.reload())
+    },
+    onImageClick(event) {
+      // Only run on the input stream
+      if (event.target.alt !== "Stream0") return;
+      // Get a reference to the threshold tab (if it is shown) and call its "onClick" method
+      let ref = this.$refs["Threshold"];
+      if (ref && ref[0])
+        ref[0].onClick(event)
+    },
+    on3DClick() {
+      if (!this.$store.getters.isCalibrated) {
+        this.dialog = true;
+        this.processingModeOverride = true;
+      }
+    },
+    closeUncalibratedDialog() {
+      this.dialog = false;
+      this.processingModeOverride = false;
+      // this.$store.getters.currentPipelineSettings.solvePNPEnabled = false;
+      this.handlePipelineUpdate("solvePNPEnabled", false);
+    }
+  }
 }
 </script>
 
 <style scoped>
 .v-btn-toggle.fill {
-    width: 100%;
-    height: 100%;
+  width: 100%;
+  height: 100%;
 }
 
 .v-btn-toggle.fill > .v-btn {
-    width: 50%;
-    height: 100%;
+  width: 50%;
+  height: 100%;
 }
 
 th {
-    width: 80px;
-    text-align: center;
+  width: 80px;
+  text-align: center;
 }
 </style>
diff --git a/photon-client/src/views/PipelineViews/ArucoTab.vue b/photon-client/src/views/PipelineViews/ArucoTab.vue
new file mode 100644
index 000000000..526ab193e
--- /dev/null
+++ b/photon-client/src/views/PipelineViews/ArucoTab.vue
@@ -0,0 +1,76 @@
+<template>
+  <div>
+    <CVslider
+        v-model="decimate"
+        class="pt-2"
+        slider-cols="8"
+        name="Decimate"
+        min="1"
+        max="8"
+        step=".5"
+        tooltip="Increases FPS at the expense of range by reducing image resolution initially"
+        @input="handlePipelineData('decimate')"
+    />
+    <CVslider
+        v-model="numIterations"
+        class="pt-2"
+        slider-cols="8"
+        name="Corner Iterations"
+        min="30"
+        max="1000"
+        step="5"
+        tooltip="How many iterations are going to be used in order to refine corners. Higher values are lead to more accuracy at the cost of performance"
+        @input="handlePipelineData('numIterations')"
+    />
+    <CVslider
+        v-model="cornerAccuracy"
+        class="pt-2"
+        slider-cols="8"
+        name="Corner Accuracy"
+        min=".01"
+        max="100"
+        step=".01"
+        tooltip="Minimum accuracy for the corners, lower is better but more performance intensive "
+        @input="handlePipelineData('cornerAccuracy')"
+    />
+  </div>
+</template>
+
+<script>
+import CVslider from '../../components/common/cv-slider'
+
+export default {
+  name: "Aruco",
+  components: {
+    CVslider
+  },
+  computed: {
+    decimate: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.decimate
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"decimate": val});
+      },
+    },
+      numIterations: {
+        get() {
+          return this.$store.getters.currentPipelineSettings.numIterations
+        },
+        set(val) {
+          this.$store.commit("mutatePipeline", {"numIterations": val});
+        },
+      },
+        cornerAccuracy: {
+          get() {
+            return this.$store.getters.currentPipelineSettings.cornerAccuracy
+          },
+          set(val) {
+            this.$store.commit("mutatePipeline", {"cornerAccuracy": val});
+          },
+        },
+    },
+    methods: {
+    }
+  }
+</script>
diff --git a/photon-client/src/views/PipelineViews/TargetsTab.vue b/photon-client/src/views/PipelineViews/TargetsTab.vue
index 71230f0ae..bcf351f99 100644
--- a/photon-client/src/views/PipelineViews/TargetsTab.vue
+++ b/photon-client/src/views/PipelineViews/TargetsTab.vue
@@ -19,7 +19,7 @@
                 Target
               </th>
               <th
-                v-if="$store.getters.pipelineType === 4"
+                  v-if="$store.getters.pipelineType === 4 || (($store.getters.pipelineType - 2) === 3)"
                 class="text-center"
               >
                 Fiducial ID
@@ -62,7 +62,7 @@
               :key="index"
             >
               <td>{{ index }}</td>
-              <td v-if="$store.getters.pipelineType === 4">
+              <td v-if="$store.getters.pipelineType === 4 || (($store.getters.pipelineType - 2) === 3)">
                 {{ parseInt(value.fiducialId) }}
               </td>
               <template v-if="!$store.getters.currentPipelineSettings.solvePNPEnabled">
diff --git a/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java b/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
index 224c55653..a05f61790 100644
--- a/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
@@ -197,6 +197,7 @@ public class TestUtils {
     public enum ApriltagTestImages {
         kRobots,
         kTag1_640_480,
+        kTag1_16h5_1280,
         kTag_corner_1280;
 
         public final Path path;
@@ -204,7 +205,9 @@ public class TestUtils {
         Path getPath() {
             // Strip leading k
             var filename = this.toString().substring(1).toLowerCase();
-            return Path.of("apriltag", filename + ".jpg");
+            var extension = ".jpg";
+            if (filename.equals("tag1_16h5_1280")) extension = ".png";
+            return Path.of("apriltag", filename + extension);
         }
 
         ApriltagTestImages() {
diff --git a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
index cd035555f..15573a028 100644
--- a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
@@ -172,6 +172,17 @@ public class MathUtils {
     private static final Rotation3d WPILIB_BASE_ROTATION =
             new Rotation3d(new MatBuilder<>(Nat.N3(), Nat.N3()).fill(0, 1, 0, 0, 0, 1, 1, 0, 0));
 
+    public static Transform3d convertOpenCVtoPhotonTransform(Transform3d cameraToTarget3d) {
+        // TODO: Refactor into new pipe?
+        // CameraToTarget _should_ be in opencv-land EDN
+        var nwu =
+                CoordinateSystem.convert(
+                        new Pose3d().transformBy(cameraToTarget3d),
+                        CoordinateSystem.EDN(),
+                        CoordinateSystem.NWU());
+        return new Transform3d(nwu.getTranslation(), WPILIB_BASE_ROTATION.rotateBy(nwu.getRotation()));
+    }
+
     public static Pose3d convertOpenCVtoPhotonPose(Transform3d cameraToTarget3d) {
         // TODO: Refactor into new pipe?
         // CameraToTarget _should_ be in opencv-land EDN
@@ -208,6 +219,14 @@ public class MathUtils {
         return new Transform3d(pose.getTranslation(), ocvRotation);
     }
 
+    public static Pose3d convertArucotoOpenCV(Transform3d pose) {
+        var ocvRotation =
+                APRILTAG_BASE_ROTATION.rotateBy(
+                        new Rotation3d(VecBuilder.fill(0, 0, 1), Units.degreesToRadians(180))
+                                .rotateBy(pose.getRotation()));
+        return new Pose3d(pose.getTranslation(), ocvRotation);
+    }
+
     public static void rotationToOpencvRvec(Rotation3d rotation, Mat rvecOutput) {
         var angle = rotation.getAngle();
         var axis = rotation.getAxis().times(angle);
diff --git a/photon-core/src/main/java/org/photonvision/vision/aruco/ArucoDetectionResult.java b/photon-core/src/main/java/org/photonvision/vision/aruco/ArucoDetectionResult.java
new file mode 100644
index 000000000..b59ae9e9e
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/vision/aruco/ArucoDetectionResult.java
@@ -0,0 +1,83 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.aruco;
+
+import java.util.Arrays;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+
+public class ArucoDetectionResult {
+    private static final Logger logger =
+            new Logger(ArucoDetectionResult.class, LogGroup.VisionModule);
+    double[] xCorners;
+    double[] yCorners;
+
+    int id;
+
+    double[] tvec, rvec;
+
+    public ArucoDetectionResult(
+            double[] xCorners, double[] yCorners, int id, double[] tvec, double[] rvec) {
+        this.xCorners = xCorners;
+        this.yCorners = yCorners;
+        this.id = id;
+        this.tvec = tvec;
+        this.rvec = rvec;
+        // logger.debug("Creating a new detection result: " + this.toString());
+    }
+
+    public double[] getTvec() {
+        return tvec;
+    }
+
+    public double[] getRvec() {
+        return rvec;
+    }
+
+    public double[] getxCorners() {
+        return xCorners;
+    }
+
+    public double[] getyCorners() {
+        return yCorners;
+    }
+
+    public int getId() {
+        return id;
+    }
+
+    public double getCenterX() {
+        return (xCorners[0] + xCorners[1] + xCorners[2] + xCorners[3]) * .25;
+    }
+
+    public double getCenterY() {
+        return (yCorners[0] + yCorners[1] + yCorners[2] + yCorners[3]) * .25;
+    }
+
+    @Override
+    public String toString() {
+        return "ArucoDetectionResult{"
+                + "xCorners="
+                + Arrays.toString(xCorners)
+                + ", yCorners="
+                + Arrays.toString(yCorners)
+                + ", id="
+                + id
+                + '}';
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/aruco/ArucoDetectorParams.java b/photon-core/src/main/java/org/photonvision/vision/aruco/ArucoDetectorParams.java
new file mode 100644
index 000000000..a4486a104
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/vision/aruco/ArucoDetectorParams.java
@@ -0,0 +1,76 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.aruco;
+
+import org.opencv.aruco.Aruco;
+import org.opencv.aruco.ArucoDetector;
+import org.opencv.aruco.DetectorParameters;
+import org.opencv.aruco.Dictionary;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+
+public class ArucoDetectorParams {
+    private static final Logger logger = new Logger(PhotonArucoDetector.class, LogGroup.VisionModule);
+
+    private float m_decimate = -1;
+    private int m_iterations = -1;
+    private double m_accuracy = -1;
+
+    DetectorParameters parameters = DetectorParameters.create();
+    ArucoDetector detector;
+
+    public ArucoDetectorParams() {
+        setDecimation(1);
+        setCornerAccuracy(25);
+        setCornerRefinementMaxIterations(100);
+
+        detector = new ArucoDetector(Dictionary.get(Aruco.DICT_APRILTAG_16h5), parameters);
+    }
+
+    public void setDecimation(float decimate) {
+        if (decimate == m_decimate) return;
+
+        logger.info("Setting decimation from " + m_decimate + " to " + decimate);
+
+        // We only need to mutate the parameters -- the detector keeps a poitner to the parameters
+        // object internally, so it should automatically update
+        parameters.set_aprilTagQuadDecimate((float) decimate);
+        m_decimate = decimate;
+    }
+
+    public void setCornerRefinementMaxIterations(int iters) {
+        if (iters == m_iterations || iters <= 0) return;
+
+        parameters.set_cornerRefinementMethod(Aruco.CORNER_REFINE_SUBPIX);
+        parameters.set_cornerRefinementMaxIterations(iters); // 200
+
+        m_iterations = iters;
+    }
+
+    public void setCornerAccuracy(double accuracy) {
+        if (accuracy == m_accuracy || accuracy <= 0) return;
+
+        parameters.set_cornerRefinementMinAccuracy(
+                accuracy / 1000.0); // divides by 1000 because the UI multiplies it by 1000
+        m_accuracy = accuracy;
+    }
+
+    public ArucoDetector getDetector() {
+        return detector;
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/aruco/PhotonArucoDetector.java b/photon-core/src/main/java/org/photonvision/vision/aruco/PhotonArucoDetector.java
new file mode 100644
index 000000000..b04418059
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/vision/aruco/PhotonArucoDetector.java
@@ -0,0 +1,132 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.aruco;
+
+import edu.wpi.first.math.VecBuilder;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Translation3d;
+import edu.wpi.first.math.util.Units;
+import java.util.ArrayList;
+import org.opencv.aruco.Aruco;
+import org.opencv.aruco.ArucoDetector;
+import org.opencv.core.Mat;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+
+public class PhotonArucoDetector {
+    private static final Logger logger = new Logger(PhotonArucoDetector.class, LogGroup.VisionModule);
+
+    private static final Rotation3d ARUCO_BASE_ROTATION =
+            new Rotation3d(VecBuilder.fill(0, 0, 1), Units.degreesToRadians(180));
+
+    Mat ids;
+
+    Mat tvecs;
+    Mat rvecs;
+    ArrayList<Mat> corners;
+
+    Mat cornerMat;
+    Translation3d translation;
+    Rotation3d rotation;
+    double timeStartDetect;
+    double timeEndDetect;
+    Pose3d tagPose;
+    double timeStartProcess;
+    double timeEndProcess;
+    double[] xCorners = new double[4];
+    double[] yCorners = new double[4];
+
+    public PhotonArucoDetector() {
+        logger.debug("New Aruco Detector");
+        ids = new Mat();
+        tvecs = new Mat();
+        rvecs = new Mat();
+        corners = new ArrayList<Mat>();
+        tagPose = new Pose3d();
+        translation = new Translation3d();
+        rotation = new Rotation3d();
+    }
+
+    public ArucoDetectionResult[] detect(
+            Mat grayscaleImg,
+            float tagSize,
+            CameraCalibrationCoefficients coeffs,
+            ArucoDetector detector) {
+        detector.detectMarkers(grayscaleImg, corners, ids);
+        if (coeffs != null) {
+            Aruco.estimatePoseSingleMarkers(
+                    corners,
+                    tagSize,
+                    coeffs.getCameraIntrinsicsMat(),
+                    coeffs.getDistCoeffsMat(),
+                    rvecs,
+                    tvecs);
+        }
+
+        ArucoDetectionResult[] toReturn = new ArucoDetectionResult[corners.size()];
+        timeStartProcess = System.currentTimeMillis();
+        for (int i = 0; i < corners.size(); i++) {
+            cornerMat = corners.get(i);
+            // logger.debug(cornerMat.dump());
+            xCorners =
+                    new double[] {
+                        cornerMat.get(0, 0)[0],
+                        cornerMat.get(0, 1)[0],
+                        cornerMat.get(0, 2)[0],
+                        cornerMat.get(0, 3)[0]
+                    };
+            yCorners =
+                    new double[] {
+                        cornerMat.get(0, 0)[1],
+                        cornerMat.get(0, 1)[1],
+                        cornerMat.get(0, 2)[1],
+                        cornerMat.get(0, 3)[1]
+                    };
+            cornerMat.release();
+
+            double[] tvec;
+            double[] rvec;
+            if (coeffs != null) {
+                // Need to apply a 180 rotation about Z
+                var origRvec = rvecs.get(i, 0);
+                var axisangle = VecBuilder.fill(origRvec[0], origRvec[1], origRvec[2]);
+                Rotation3d rotation = new Rotation3d(axisangle, axisangle.normF());
+                var ocvRotation = ARUCO_BASE_ROTATION.rotateBy(rotation);
+
+                var angle = ocvRotation.getAngle();
+                var finalAxisAngle = ocvRotation.getAxis().times(angle);
+
+                tvec = tvecs.get(i, 0);
+                rvec = finalAxisAngle.getData();
+            } else {
+                tvec = new double[] {0, 0, 0};
+                rvec = new double[] {0, 0, 0};
+            }
+
+            toReturn[i] =
+                    new ArucoDetectionResult(xCorners, yCorners, (int) ids.get(i, 0)[0], tvec, rvec);
+        }
+        rvecs.release();
+        tvecs.release();
+        ids.release();
+
+        return toReturn;
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java
new file mode 100644
index 000000000..d5bc76bf5
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java
@@ -0,0 +1,50 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.pipe.impl;
+
+import edu.wpi.first.math.util.Units;
+import java.util.List;
+import org.opencv.aruco.DetectorParameters;
+import org.opencv.core.Mat;
+import org.photonvision.vision.aruco.ArucoDetectionResult;
+import org.photonvision.vision.aruco.PhotonArucoDetector;
+import org.photonvision.vision.pipe.CVPipe;
+
+public class ArucoDetectionPipe
+        extends CVPipe<Mat, List<ArucoDetectionResult>, ArucoDetectionPipeParams> {
+    PhotonArucoDetector detector = new PhotonArucoDetector();
+
+    @Override
+    protected List<ArucoDetectionResult> process(Mat in) {
+        return List.of(
+                detector.detect(
+                        in,
+                        (float) Units.inchesToMeters(6),
+                        params.cameraCalibrationCoefficients,
+                        params.detectorParams));
+    }
+
+    @Override
+    public void setParams(ArucoDetectionPipeParams params) {
+        super.setParams(params);
+    }
+
+    public DetectorParameters getParameters() {
+        return params == null ? null : params.detectorParams.get_params();
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java
new file mode 100644
index 000000000..98e9daf41
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java
@@ -0,0 +1,57 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.pipe.impl;
+
+import java.util.Objects;
+import org.opencv.aruco.ArucoDetector;
+import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+
+public class ArucoDetectionPipeParams {
+    public ArucoDetector detectorParams;
+    public final CameraCalibrationCoefficients cameraCalibrationCoefficients;
+
+    public ArucoDetectionPipeParams(
+            ArucoDetector detector, CameraCalibrationCoefficients cameraCalibrationCoefficients) {
+        this.detectorParams = detector;
+        this.cameraCalibrationCoefficients = cameraCalibrationCoefficients;
+    }
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) return true;
+        if (o == null || getClass() != o.getClass()) return false;
+        ArucoDetectionPipeParams that = (ArucoDetectionPipeParams) o;
+        return Objects.equals(detectorParams, that.detectorParams)
+                && Objects.equals(cameraCalibrationCoefficients, that.cameraCalibrationCoefficients);
+    }
+
+    @Override
+    public int hashCode() {
+        return Objects.hash(detectorParams, cameraCalibrationCoefficients);
+    }
+
+    @Override
+    public String toString() {
+        return "ArucoDetectionPipeParams{"
+                + "detectorParams="
+                + detectorParams
+                + ", cameraCalibrationCoefficients="
+                + cameraCalibrationCoefficients
+                + '}';
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dArucoPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dArucoPipe.java
new file mode 100644
index 000000000..85f4ef180
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dArucoPipe.java
@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.pipe.impl;
+
+import java.awt.*;
+import org.photonvision.vision.frame.FrameDivisor;
+
+public class Draw2dArucoPipe extends Draw2dTargetsPipe {
+    public static class Draw2dArucoParams extends Draw2dTargetsPipe.Draw2dTargetsParams {
+        public Draw2dArucoParams(
+                boolean shouldDraw, boolean showMultipleTargets, FrameDivisor divisor) {
+            super(shouldDraw, showMultipleTargets, divisor);
+            // We want to show the polygon, not the rotated box
+            this.showRotatedBox = false;
+            this.showMaximumBox = false;
+            this.rotatedBoxColor = Color.RED;
+        }
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dArucoPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dArucoPipe.java
new file mode 100644
index 000000000..0fdd71935
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dArucoPipe.java
@@ -0,0 +1,35 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.pipe.impl;
+
+import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.frame.FrameDivisor;
+import org.photonvision.vision.target.TargetModel;
+
+public class Draw3dArucoPipe extends Draw3dTargetsPipe {
+    public static class Draw3dArucoParams extends Draw3dContoursParams {
+        public Draw3dArucoParams(
+                boolean shouldDraw,
+                CameraCalibrationCoefficients cameraCalibrationCoefficients,
+                TargetModel targetModel,
+                FrameDivisor divisor) {
+            super(shouldDraw, cameraCalibrationCoefficients, targetModel, divisor);
+            this.shouldDrawHull = false;
+        }
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java
new file mode 100644
index 000000000..69ca5f934
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java
@@ -0,0 +1,128 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.pipeline;
+
+import edu.wpi.first.math.geometry.Transform3d;
+import java.util.ArrayList;
+import java.util.List;
+import org.opencv.core.Mat;
+import org.photonvision.vision.aruco.ArucoDetectionResult;
+import org.photonvision.vision.aruco.ArucoDetectorParams;
+import org.photonvision.vision.frame.Frame;
+import org.photonvision.vision.frame.FrameThresholdType;
+import org.photonvision.vision.pipe.CVPipe.CVPipeResult;
+import org.photonvision.vision.pipe.impl.*;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
+import org.photonvision.vision.target.TrackedTarget;
+import org.photonvision.vision.target.TrackedTarget.TargetCalculationParameters;
+
+@SuppressWarnings("DuplicatedCode")
+public class ArucoPipeline extends CVPipeline<CVPipelineResult, ArucoPipelineSettings> {
+    private final RotateImagePipe rotateImagePipe = new RotateImagePipe();
+    private final GrayscalePipe grayscalePipe = new GrayscalePipe();
+
+    private final ArucoDetectionPipe arucoDetectionPipe = new ArucoDetectionPipe();
+    private final CalculateFPSPipe calculateFPSPipe = new CalculateFPSPipe();
+
+    ArucoDetectorParams m_arucoDetectorParams = new ArucoDetectorParams();
+
+    public ArucoPipeline() {
+        super(FrameThresholdType.GREYSCALE);
+        settings = new ArucoPipelineSettings();
+    }
+
+    public ArucoPipeline(ArucoPipelineSettings settings) {
+        super(FrameThresholdType.GREYSCALE);
+        this.settings = settings;
+    }
+
+    @Override
+    protected void setPipeParamsImpl() {
+        // Sanitize thread count - not supported to have fewer than 1 threads
+        settings.threads = Math.max(1, settings.threads);
+
+        RotateImagePipe.RotateImageParams rotateImageParams =
+                new RotateImagePipe.RotateImageParams(settings.inputImageRotationMode);
+        rotateImagePipe.setParams(rotateImageParams);
+
+        m_arucoDetectorParams.setDecimation((float) settings.decimate);
+        m_arucoDetectorParams.setCornerRefinementMaxIterations(settings.numIterations);
+        m_arucoDetectorParams.setCornerAccuracy(settings.cornerAccuracy);
+
+        arucoDetectionPipe.setParams(
+                new ArucoDetectionPipeParams(
+                        m_arucoDetectorParams.getDetector(), frameStaticProperties.cameraCalibration));
+    }
+
+    @Override
+    protected CVPipelineResult process(Frame frame, ArucoPipelineSettings settings) {
+        long sumPipeNanosElapsed = 0L;
+        Mat rawInputMat;
+        rawInputMat = frame.colorImage.getMat();
+
+        List<TrackedTarget> targetList;
+        CVPipeResult<List<ArucoDetectionResult>> tagDetectionPipeResult;
+
+        if (rawInputMat.empty()) {
+            return new CVPipelineResult(sumPipeNanosElapsed, 0, List.of(), frame);
+        }
+
+        tagDetectionPipeResult = arucoDetectionPipe.run(rawInputMat);
+        targetList = new ArrayList<>();
+        for (ArucoDetectionResult detection : tagDetectionPipeResult.output) {
+            // TODO this should be in a pipe, not in the top level here (Matt)
+
+            // populate the target list
+            // Challenge here is that TrackedTarget functions with OpenCV Contour
+            TrackedTarget target =
+                    new TrackedTarget(
+                            detection,
+                            new TargetCalculationParameters(
+                                    false, null, null, null, null, frameStaticProperties));
+
+            var correctedBestPose = target.getBestCameraToTarget3d();
+
+            target.setBestCameraToTarget3d(
+                    new Transform3d(correctedBestPose.getTranslation(), correctedBestPose.getRotation()));
+
+            targetList.add(target);
+        }
+
+        var fpsResult = calculateFPSPipe.run(null);
+        var fps = fpsResult.output;
+
+        return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, frame);
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java
new file mode 100644
index 000000000..265a8d202
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java
@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.pipeline;
+
+import com.fasterxml.jackson.annotation.JsonTypeName;
+import org.photonvision.vision.target.TargetModel;
+
+@JsonTypeName("ArucoPipelineSettings")
+public class ArucoPipelineSettings extends AdvancedPipelineSettings {
+    public double decimate = 1;
+    public int threads = 2;
+    public int numIterations = 100;
+    public double cornerAccuracy = 25.0;
+    public boolean useAruco3 = true;
+
+    // 3d settings
+
+    public ArucoPipelineSettings() {
+        super();
+        pipelineType = PipelineType.Aruco;
+        outputShowMultipleTargets = true;
+        targetModel = TargetModel.kAruco6in_16h5;
+        cameraExposure = -1;
+        cameraAutoExposure = true;
+        ledMode = false;
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
index f8653a03a..077b4254a 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
@@ -31,7 +31,8 @@ import org.photonvision.vision.opencv.ImageRotationMode;
     @JsonSubTypes.Type(value = ColoredShapePipelineSettings.class),
     @JsonSubTypes.Type(value = ReflectivePipelineSettings.class),
     @JsonSubTypes.Type(value = DriverModePipelineSettings.class),
-    @JsonSubTypes.Type(value = AprilTagPipelineSettings.class)
+    @JsonSubTypes.Type(value = AprilTagPipelineSettings.class),
+    @JsonSubTypes.Type(value = ArucoPipelineSettings.class)
 })
 public class CVPipelineSettings implements Cloneable {
     public int pipelineIndex = 0;
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
index 2c61f45d8..666ecd8ce 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
@@ -24,6 +24,7 @@ import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.opencv.DualOffsetValues;
 import org.photonvision.vision.pipe.impl.*;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
+import org.photonvision.vision.target.TargetModel;
 import org.photonvision.vision.target.TrackedTarget;
 
 /**
@@ -37,6 +38,9 @@ public class OutputStreamPipeline {
     private final Draw3dTargetsPipe draw3dTargetsPipe = new Draw3dTargetsPipe();
     private final Draw2dAprilTagsPipe draw2dAprilTagsPipe = new Draw2dAprilTagsPipe();
     private final Draw3dAprilTagsPipe draw3dAprilTagsPipe = new Draw3dAprilTagsPipe();
+
+    private final Draw2dArucoPipe draw2dArucoPipe = new Draw2dArucoPipe();
+    private final Draw3dArucoPipe draw3dArucoPipe = new Draw3dArucoPipe();
     private final CalculateFPSPipe calculateFPSPipe = new CalculateFPSPipe();
     private final ResizeImagePipe resizeImagePipe = new ResizeImagePipe();
 
@@ -65,6 +69,13 @@ public class OutputStreamPipeline {
                         settings.streamingFrameDivisor);
         draw2dAprilTagsPipe.setParams(draw2DAprilTagsParams);
 
+        var draw2DArucoParams =
+                new Draw2dArucoPipe.Draw2dArucoParams(
+                        settings.outputShouldDraw,
+                        settings.outputShowMultipleTargets,
+                        settings.streamingFrameDivisor);
+        draw2dArucoPipe.setParams(draw2DArucoParams);
+
         var draw2dCrosshairParams =
                 new Draw2dCrosshairPipe.Draw2dCrosshairParams(
                         settings.outputShouldDraw,
@@ -92,6 +103,14 @@ public class OutputStreamPipeline {
                         settings.streamingFrameDivisor);
         draw3dAprilTagsPipe.setParams(draw3dAprilTagsParams);
 
+        var draw3dArucoParams =
+                new Draw3dArucoPipe.Draw3dArucoParams(
+                        settings.outputShouldDraw,
+                        frameStaticProperties.cameraCalibration,
+                        TargetModel.k6in_16h5,
+                        settings.streamingFrameDivisor);
+        draw3dArucoPipe.setParams(draw3dArucoParams);
+
         resizeImagePipe.setParams(
                 new ResizeImagePipe.ResizeImageParams(settings.streamingFrameDivisor));
     }
@@ -126,12 +145,12 @@ public class OutputStreamPipeline {
             }
 
             // Draw 2D Crosshair on output
-            var draw2dCrosshairResultOnInput = draw2dCrosshairPipe.run(Pair.of(outMat, targetsToDraw));
+            var draw2dCrosshairResultOnInput = draw2dCrosshairPipe.run(Pair.of(inMat, targetsToDraw));
             sumPipeNanosElapsed += pipeProfileNanos[3] = draw2dCrosshairResultOnInput.nanosElapsed;
 
-            if (!(settings instanceof AprilTagPipelineSettings)) {
-                // If we're processing anything other than Apriltags...
-
+            if (!(settings instanceof AprilTagPipelineSettings)
+                    && !(settings instanceof ArucoPipelineSettings)) {
+                // If we're processing anything other than Apriltags..
                 var draw2dCrosshairResultOnOutput = draw2dCrosshairPipe.run(Pair.of(outMat, targetsToDraw));
                 sumPipeNanosElapsed += pipeProfileNanos[4] = draw2dCrosshairResultOnOutput.nanosElapsed;
 
@@ -154,7 +173,7 @@ public class OutputStreamPipeline {
                     pipeProfileNanos[8] = 0;
                 }
 
-            } else {
+            } else if (settings instanceof AprilTagPipelineSettings) {
                 // If we are doing apriltags...
                 if (settings.solvePNPEnabled) {
                     // Draw 3d Apriltag markers (camera is calibrated and running in 3d mode)
@@ -171,6 +190,26 @@ public class OutputStreamPipeline {
                     var draw2dTargetsOnInput = draw2dAprilTagsPipe.run(Pair.of(outMat, targetsToDraw));
                     sumPipeNanosElapsed += pipeProfileNanos[5] = draw2dTargetsOnInput.nanosElapsed;
 
+                    pipeProfileNanos[6] = 0;
+                    pipeProfileNanos[7] = 0;
+                    pipeProfileNanos[8] = 0;
+                }
+            } else if (settings instanceof ArucoPipelineSettings) {
+                if (settings.solvePNPEnabled) {
+                    // Draw 3d Apriltag markers (camera is calibrated and running in 3d mode)
+                    pipeProfileNanos[5] = 0;
+                    pipeProfileNanos[6] = 0;
+
+                    var drawOnInputResult = draw3dArucoPipe.run(Pair.of(outMat, targetsToDraw));
+                    sumPipeNanosElapsed += pipeProfileNanos[7] = drawOnInputResult.nanosElapsed;
+
+                    pipeProfileNanos[8] = 0;
+
+                } else {
+                    // Draw 2d apriltag markers
+                    var draw2dTargetsOnInput = draw2dArucoPipe.run(Pair.of(outMat, targetsToDraw));
+                    sumPipeNanosElapsed += pipeProfileNanos[5] = draw2dTargetsOnInput.nanosElapsed;
+
                     pipeProfileNanos[6] = 0;
                     pipeProfileNanos[7] = 0;
                     pipeProfileNanos[8] = 0;
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/PipelineType.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/PipelineType.java
index 4e1214e70..a2f6346b8 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/PipelineType.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/PipelineType.java
@@ -23,7 +23,8 @@ public enum PipelineType {
     DriverMode(-1, DriverModePipeline.class),
     Reflective(0, ReflectivePipeline.class),
     ColoredShape(1, ColoredShapePipeline.class),
-    AprilTag(2, AprilTagPipeline.class);
+    AprilTag(2, AprilTagPipeline.class),
+    Aruco(3, ArucoPipeline.class);
 
     public final int baseIndex;
     public final Class clazz;
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java b/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
index aadc3e4da..f44f6acee 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
@@ -21,6 +21,7 @@ import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.Comparator;
 import java.util.List;
+import org.opencv.aruco.Aruco;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.DataChangeService;
@@ -205,6 +206,11 @@ public class PipelineManager {
                     currentUserPipeline =
                             new AprilTagPipeline((AprilTagPipelineSettings) desiredPipelineSettings);
                     break;
+
+                case Aruco:
+                    logger.debug("Creating Aruco Pipeline");
+                    currentUserPipeline = new ArucoPipeline((ArucoPipelineSettings) desiredPipelineSettings);
+                    break;
                 default:
                     // Can be calib3d or drivermode, both of which are special cases
                     break;
@@ -300,6 +306,12 @@ public class PipelineManager {
                     added.pipelineNickname = nickname;
                     return added;
                 }
+            case Aruco:
+                {
+                    var added = new ArucoPipelineSettings();
+                    added.pipelineNickname = nickname;
+                    return added;
+                }
             default:
                 {
                     logger.error("Got invalid pipeline type: " + type.toString());
diff --git a/photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java b/photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java
index c6db947a7..4ead2f778 100644
--- a/photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java
+++ b/photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java
@@ -109,6 +109,14 @@ public enum TargetModel implements Releasable {
                     new Point3(Units.inchesToMeters(3.25), -Units.inchesToMeters(3.25), 0),
                     new Point3(-Units.inchesToMeters(3.25), -Units.inchesToMeters(3.25), 0)),
             Units.inchesToMeters(3.25 * 2)),
+    kAruco6in_16h5( // Nominal edge length of 200 mm includes the white border, but solvePNP corners
+            // do not
+            List.of(
+                    new Point3(Units.inchesToMeters(3), Units.inchesToMeters(3), 0),
+                    new Point3(Units.inchesToMeters(3), -Units.inchesToMeters(3), 0),
+                    new Point3(-Units.inchesToMeters(3), -Units.inchesToMeters(3), 0),
+                    new Point3(Units.inchesToMeters(3), -Units.inchesToMeters(3), 0)),
+            Units.inchesToMeters(3 * 2)),
     k6in_16h5( // Nominal edge length of 200 mm includes the white border, but solvePNP corners
             // do not
             List.of(
diff --git a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
index 01309b897..925244337 100644
--- a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
+++ b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
@@ -18,7 +18,10 @@ package org.photonvision.vision.target;
 
 import edu.wpi.first.apriltag.AprilTagDetection;
 import edu.wpi.first.apriltag.AprilTagPoseEstimate;
+import edu.wpi.first.math.VecBuilder;
+import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.Translation3d;
 import java.util.HashMap;
 import java.util.List;
 import org.opencv.core.CvType;
@@ -28,6 +31,7 @@ import org.opencv.core.MatOfPoint2f;
 import org.opencv.core.Point;
 import org.opencv.core.RotatedRect;
 import org.photonvision.common.util.math.MathUtils;
+import org.photonvision.vision.aruco.ArucoDetectionResult;
 import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.opencv.*;
 
@@ -135,6 +139,59 @@ public class TrackedTarget implements Releasable {
         setCameraRelativeRvec(rvec);
     }
 
+    public TrackedTarget(ArucoDetectionResult result, TargetCalculationParameters params) {
+        m_targetOffsetPoint = new Point(result.getCenterX(), result.getCenterY());
+        m_robotOffsetPoint = new Point();
+
+        m_pitch =
+                TargetCalculations.calculatePitch(
+                        result.getCenterY(), params.cameraCenterPoint.y, params.verticalFocalLength);
+        m_yaw =
+                TargetCalculations.calculateYaw(
+                        result.getCenterX(), params.cameraCenterPoint.x, params.horizontalFocalLength);
+
+        double[] xCorners = result.getxCorners();
+        double[] yCorners = result.getyCorners();
+
+        Point[] cornerPoints =
+                new Point[] {
+                    new Point(xCorners[0], yCorners[0]),
+                    new Point(xCorners[1], yCorners[1]),
+                    new Point(xCorners[2], yCorners[2]),
+                    new Point(xCorners[3], yCorners[3])
+                };
+        m_targetCorners = List.of(cornerPoints);
+        MatOfPoint contourMat = new MatOfPoint(cornerPoints);
+        m_approximateBoundingPolygon = new MatOfPoint2f(cornerPoints);
+        m_mainContour = new Contour(contourMat);
+        m_area = m_mainContour.getArea() / params.imageArea * 100;
+        m_fiducialId = result.getId();
+        m_shape = null;
+
+        // TODO implement skew? or just yeet
+
+        var tvec = new Mat(3, 1, CvType.CV_64FC1);
+        tvec.put(0, 0, result.getTvec());
+        setCameraRelativeTvec(tvec);
+
+        var rvec = new Mat(3, 1, CvType.CV_64FC1);
+        rvec.put(0, 0, result.getRvec());
+        setCameraRelativeRvec(rvec);
+
+        {
+            Translation3d translation =
+                    // new Translation3d(tVec.get(0, 0)[0], tVec.get(1, 0)[0], tVec.get(2, 0)[0]);
+                    new Translation3d(result.getTvec()[0], result.getTvec()[1], result.getTvec()[2]);
+            var axisangle =
+                    VecBuilder.fill(result.getRvec()[0], result.getRvec()[1], result.getRvec()[2]);
+            Rotation3d rotation = new Rotation3d(axisangle, axisangle.normF());
+            Transform3d targetPose =
+                    MathUtils.convertOpenCVtoPhotonTransform(new Transform3d(translation, rotation));
+
+            m_bestCameraToTarget3d = targetPose;
+        }
+    }
+
     public void setFiducialId(int id) {
         m_fiducialId = id;
     }
diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java
new file mode 100644
index 000000000..06d2fb4f5
--- /dev/null
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java
@@ -0,0 +1,86 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.pipeline;
+
+import java.io.IOException;
+import java.util.stream.Collectors;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import org.photonvision.common.util.TestUtils;
+import org.photonvision.vision.camera.QuirkyCamera;
+import org.photonvision.vision.frame.provider.FileFrameProvider;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
+import org.photonvision.vision.target.TargetModel;
+import org.photonvision.vision.target.TrackedTarget;
+
+public class ArucoPipelineTest {
+    @BeforeEach
+    public void Init() throws IOException {
+        TestUtils.loadLibraries();
+    }
+
+    @Test
+    public void testApriltagFacingCameraAruco() {
+        var pipeline = new ArucoPipeline();
+
+        pipeline.getSettings().inputShouldShow = true;
+        pipeline.getSettings().outputShouldDraw = true;
+        pipeline.getSettings().solvePNPEnabled = true;
+        pipeline.getSettings().cornerDetectionAccuracyPercentage = 4;
+        pipeline.getSettings().cornerDetectionUseConvexHulls = true;
+        pipeline.getSettings().targetModel = TargetModel.k200mmAprilTag;
+
+        // pipeline.getSettings().tagFamily = AprilTagFamily.kTag36h11;
+
+        var frameProvider =
+                new FileFrameProvider(
+                        TestUtils.getApriltagImagePath(TestUtils.ApriltagTestImages.kTag1_16h5_1280, false),
+                        106,
+                        TestUtils.getCoeffs("laptop_1280.json", false));
+        frameProvider.requestFrameThresholdType(pipeline.getThresholdType());
+
+        CVPipelineResult pipelineResult;
+        try {
+            pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
+            printTestResults(pipelineResult);
+        } catch (RuntimeException e) {
+            // For now, will throw coz rotation3d ctor
+            return;
+        }
+
+        // Draw on input
+        var outputPipe = new OutputStreamPipeline();
+        outputPipe.process(
+                pipelineResult.inputAndOutputFrame, pipeline.getSettings(), pipelineResult.targets);
+
+        TestUtils.showImage(
+                pipelineResult.inputAndOutputFrame.processedImage.getMat(), "Pipeline output", 999999);
+    }
+
+    private static void printTestResults(CVPipelineResult pipelineResult) {
+        double fps = 1000 / pipelineResult.getLatencyMillis();
+        System.out.println(
+                "Pipeline ran in " + pipelineResult.getLatencyMillis() + "ms (" + fps + " " + "fps)");
+        System.out.println("Found " + pipelineResult.targets.size() + " valid targets");
+        System.out.println(
+                "Found targets at "
+                        + pipelineResult.targets.stream()
+                                .map(TrackedTarget::getBestCameraToTarget3d)
+                                .collect(Collectors.toList()));
+    }
+}
diff --git a/test-resources/calibration/laptop_1280.json b/test-resources/calibration/laptop_1280.json
new file mode 100644
index 000000000..fba263cd6
--- /dev/null
+++ b/test-resources/calibration/laptop_1280.json
@@ -0,0 +1,33 @@
+{
+  "resolution": {
+    "width": 1280.0,
+    "height": 720.0
+  },
+  "cameraIntrinsics": {
+    "rows": 3,
+    "cols": 3,
+    "type": 6,
+    "data": [
+      772.8811133362973, 0.0, 658.195907928895, 0.0, 774.614883980155,
+      382.51346080446376, 0.0, 0.0, 1.0
+    ]
+  },
+  "cameraExtrinsics": {
+    "rows": 1,
+    "cols": 5,
+    "type": 6,
+    "data": [
+      0.012379991516584503, -0.02480531511889502, -0.0019890797679669916,
+      0.004880819847116537, 0.011416616592083246
+    ]
+  },
+  "perViewErrors": [
+    0.3638546496153099, 0.320248621678274, 0.5961721612674044,
+    0.36471868370313654, 0.8867304205602674, 0.33170668499682465,
+    1.1510901610887656, 0.3135195406442026, 0.6278864159169598,
+    0.8112949178024729, 0.3712810633477184, 0.9395284037997239,
+    1.3962516818958053, 0.4955041432920438, 0.36239257683589704,
+    0.8017916217152257, 0.3702170636543333
+  ],
+  "standardDeviation": 0.3191763323035045
+}
diff --git a/test-resources/testimages/apriltag/tag1_16h5_1280.png b/test-resources/testimages/apriltag/tag1_16h5_1280.png
new file mode 100644
index 000000000..1da742f56
Binary files /dev/null and b/test-resources/testimages/apriltag/tag1_16h5_1280.png differ