diff --git a/robot/arlo.py b/robot/arlo.py
index 9ca7bb4..dad8255 100644
--- a/robot/arlo.py
+++ b/robot/arlo.py
@@ -110,7 +110,10 @@ class Arlo():
             parameters=aruco_params
         )
 
-        return list(zip(corners, ids)) if corners is not None else []
+        if corners is None:
+            return []
+
+        return [(box[0], ids[i]) for i, box in enumerate(corners)]
 
     def draw_arucos(self, image, bounding_boxes):
         for bounding, n in bounding_boxes: