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I don't think Aruco can return the "quality of fit". Maybe look into applying a Kalman filter that will smooth the data and reduce jitter. Either 2d filter for the four corners or a 3d filter on the pose estimation. The bottom of this page has some info for filtering pose: http://docs.opencv.org/3.3.0/dc/d2c/tutorial_real_time_pose.html
This video illustrates it well: https://www.youtube.com/watch?v=DqS9Dh1zrqM
Probably doesn't need to be said, but if there's any way to acquire a higher resolution source image, you'll see a substantial increase in detection quality.
