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Aruco Based Localization

I have a large arena of 2x2m on which aruco markers are placed, there is a bot moving on this arena having an aruco marker on it.

I wish to find the actual position of bot aruco marker in cm/m from any one of the arena aruco marker. I know the positions of the area aruco markers from one of the corners of area.

My current approach: I detect markers and then estimatePoseSingleMarker, using the tvec and rvec value of one of the arena marker i generate homogeneous matrix (4x4) ,

ri,j = rotation matrix generated by cv2.Rodriguez(rvec of arena marker); Axb,Ayb,Azb = tvec of the arean marker

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now i take the inverse of this 4x4 matrix and dot product it to the bot marker tvec(trying to change camera coordinate system to arena marker reference system).

Is my approach correct? I wish to get the least error even if the camera is angled with the arena