diff --git a/test/src/QRcode.cpp b/test/src/QRcode.cpp
index eb42a74..1c04865 100644
--- a/test/src/QRcode.cpp
+++ b/test/src/QRcode.cpp
@@ -100,7 +100,17 @@ void processFrame(cv::Mat& frame)
     // Apply image processing steps
     cv::Mat processedFrame = enhanceImage(frame);
 
-    // Create ArUco marker detector
+    // Create ArUco marker detector with modified parameters
+    cv::Ptr<cv::aruco::DetectorParameters> parameters = cv::aruco::DetectorParameters::create();
+    parameters->adaptiveThreshWinSizeMin = 3;
+    parameters->adaptiveThreshWinSizeMax = 23;
+    parameters->adaptiveThreshWinSizeStep = 5;
+    parameters->minMarkerPerimeterRate = 0.005;
+    parameters->maxMarkerPerimeterRate = 3.0;
+    parameters->perspectiveRemoveIgnoredMarginPerCell = 0.05;
+    parameters->cornerRefinementMethod = cv::aruco::CORNER_REFINE_SUBPIX;
+    parameters->polygonalApproxAccuracyRate = 0.025;
+
     cv::Ptr<cv::aruco::Dictionary> dictionary = 
         cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_1000); 
     std::vector<int> markerIds;
@@ -108,7 +118,30 @@ void processFrame(cv::Mat& frame)
     std::vector<cv::Vec3d> rvecs, tvecs;
 
     // Detect markers in the image
-    cv::aruco::detectMarkers(processedFrame, dictionary, markerCorners, markerIds);
+    cv::aruco::detectMarkers(processedFrame, dictionary, markerCorners, markerIds, parameters);
+
+    // If no markers are detected, try multi-scale detection
+    if (markerIds.empty())
+    {
+        for (double scale = 0.5; scale <= 2.0; scale += 0.5)
+        {
+            cv::Mat scaledFrame;
+            cv::resize(processedFrame, scaledFrame, cv::Size(), scale, scale);
+            cv::aruco::detectMarkers(scaledFrame, dictionary, markerCorners, markerIds, parameters);
+            if (!markerIds.empty())
+            {
+                // Scale back the marker corners to the original frame size
+                for (auto& corners : markerCorners)
+                {
+                    for (auto& corner : corners)
+                    {
+                        corner /= scale;
+                    }
+                }
+                break;
+            }
+        }
+    }
 
     // Draw detected markers
     if (!markerIds.empty())
diff --git a/test/src/arenaCalibration.cpp b/test/src/arenaCalibration.cpp
index d771911..34a0cfe 100644
--- a/test/src/arenaCalibration.cpp
+++ b/test/src/arenaCalibration.cpp
@@ -151,6 +151,29 @@ void processFrame(cv::Mat& frame, std::map<int, cv::Point2f>& markerPositions, c
     // Detect markers in the image
     cv::aruco::detectMarkers(processedFrame, dictionary, markerCorners, markerIds, parameters);
 
+    // If no markers are detected, try multi-scale detection
+    if (markerIds.empty())
+    {
+        for (double scale = 0.5; scale <= 2.0; scale += 0.5)
+        {
+            cv::Mat scaledFrame;
+            cv::resize(processedFrame, scaledFrame, cv::Size(), scale, scale);
+            cv::aruco::detectMarkers(scaledFrame, dictionary, markerCorners, markerIds, parameters);
+            if (!markerIds.empty())
+            {
+                // Scale back the marker corners to the original frame size
+                for (auto& corners : markerCorners)
+                {
+                    for (auto& corner : corners)
+                    {
+                        corner /= scale;
+                    }
+                }
+                break;
+            }
+        }
+    }
+
     // Draw detected markers
     if (!markerIds.empty())
     {