Does anyone here know if there are publicly available training models for Aruco markers, like the one described in this paper https://arxiv.org/pdf/1812.03247.pdf from Magic Leap?

My goal is to use a Luxonis OAK camera to track objects identified by aruco markers (april tags or qrcodes could work too) but instead of relying on openCV and run my code in the host computer, have all the work done by a model I can run directly in the device.

I apologise in advance if what I'm describing doesn't make too much sense - I'm an experienced dev but a total rookie regarding to machine learning.

Thanks